Learning bioinspired joint geometry from motion capture data of bat flight.

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  • Author(s): Bender M;Bender M; Guo J; Powell N; Kurdila A; Müller R
  • Source:
    Bioinspiration & biomimetics [Bioinspir Biomim] 2019 Apr 10; Vol. 14 (3), pp. 036013. Date of Electronic Publication: 2019 Apr 10.
  • Publication Type:
    Journal Article
  • Language:
    English
  • Additional Information
    • Source:
      Publisher: Institute of Physics Publishing Country of Publication: England NLM ID: 101292902 Publication Model: Electronic Cited Medium: Internet ISSN: 1748-3190 (Electronic) Linking ISSN: 17483182 NLM ISO Abbreviation: Bioinspir Biomim Subsets: MEDLINE
    • Publication Information:
      Original Publication: Bristol, UK : Institute of Physics Publishing, 2006-
    • Subject Terms:
      Models, Biological*; Chiroptera/*physiology ; Flight, Animal/*physiology ; Wings, Animal/*physiology; Animals ; Biomechanical Phenomena
    • Abstract:
      Bioinspired robotic systems are often designed by assuming that the kinematics of the biological system of interest are well approximated by an open kinematic chain subject to box constraints. These box-constrains are typically generated by designer interpretation of biomotion and anatomical studies or pragmatic fabrication constraints. In contrast to this standard design paradigm, this paper presents a methodology for learning joint geometry which restricts the range of motion of generic ball joints to only the reachable set observed during biomotion experiments. This reachable set is identified by constructing an analytical-empirical potential energy function over the experimental observations. The energy function effectively 'pushes' configurations close to the set of observations. This energy function is then thresholded to identify the zero-potential (ZP) configuration set, and joint geometry is constructed using the resulting contour. We construct an entire bat wing using this method, and demonstrate through motion capture experiments that the learned geometry successfully restricts motions to the ZP set.
    • Publication Date:
      Date Created: 20190411 Date Completed: 20200109 Latest Revision: 20200109
    • Publication Date:
      20240829
    • Accession Number:
      10.1088/1748-3190/ab0fba
    • Accession Number:
      30969943