JRM Vol.32 No.4 pp. 812-821
doi: 10.20965/jrm.2020.p0812


Novel Method for Analyzing Flexible Locomotion Patterns of Animals by Using Polar Histogram

Keisuke Naniwa*, Yasuhiro Sugimoto**, Koichi Osuka**, and Hitoshi Aonuma*

*Hokkaido University
Kita 12, Nishi 7, Kita-ku, Sapporo, Hokkaido 060-0812, Japan

**Osaka University
2-1 Yamadaoka, Suita, Osaka 565-0871, Japan

April 20, 2020
June 27, 2020
August 20, 2020
cricket, polar histogram, gait chart, locomotion, gait pattern

In general, legged robots are designed to walk with a fixed rhythmic pattern. However, most animals can adapt their limb movements while walking. It is necessary to understand the mechanism of adaptability during locomotion when designing bio-inspired legged robots. In this paper, we propose an approach to analyze the flexible locomotion pattern of animals using a polar histogram. Field crickets were used to investigate variations in leg movement of insects depending on the environment. Crickets have a tripod gait; however, their leg movement changes depending on the texture of the ground. There was a significant difference between the leg movement when walking and when swimming. Our approach can explain how animals move their legs during locomotion. This study is useful for evaluating the movements of legged robots.

Snapshot of a cricket walking and swimming

Snapshot of a cricket walking and swimming

Cite this article as:
K. Naniwa, Y. Sugimoto, K. Osuka, and H. Aonuma, “Novel Method for Analyzing Flexible Locomotion Patterns of Animals by Using Polar Histogram,” J. Robot. Mechatron., Vol.32 No.4, pp. 812-821, 2020.
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