Adaptation for jumping is thought to be reflected in anuran skeletal morphology. Anuran jumping has been studied using a variety of techniques, nearly all of which have focused on taxa thought to be specialized hoppers and jumpers ( Calow and Alexander, 1973 Kamel et al., 1996 Lutz and Rome, 1996b Gillis and Biewener, 2000 Wilson et al., 2000 Kargo et al., 2002 Azizi and Roberts, 2010 Astley and Roberts, 2011). Jumping is the dominant mode of terrestrial locomotion in anurans ( Emerson, 1978), involving explosive movement from a stationary, crouched posture and potentially utilizing elastic pre-loading of tendons ( Peplowski and Marsh, 1997 Roberts and Marsh, 2003 Astley and Roberts, 2014). Our results provide new insights into how frogs engage in a wide range of locomotor behaviours and the multi-functionality of anuran limbs.Īnimals jump to move through their environment, escape predators and capture prey ( Alexander, 1995 Biewener, 2003). maculata does not appear to be compromised by presumed adaptation to walking/running. Finally, we demonstrate that jumping performance in K. Other factors correlated with higher jump angles include increased body angle in the preparatory phase, faster joint openings and increased joint excursion, higher ventrally directed force, and greater acceleration and velocity. Because of its proximity to the GRF vector, knee posture appears to be important in controlling torque directions about this joint and, potentially, torque magnitudes at more distal joints. Steeper jumps are achieved by increased thrust at the hip and ankle and greater downward rotation of the distal limb segments. We show that forward thrust is generated primarily at the hip and ankle, while body elevation is primarily driven by the ankle. Using simultaneous hind limb kinematics and single-foot ground reaction forces, we performed inverse dynamics analyses to calculate moment arms and torques about the hind limb joints during jumping at different angles in K. 3359-3364.Although the red-legged running frog, Kassina maculata, is secondarily a walker/runner, it retains the capacity for multiple locomotor modes, including jumping at a wide range of angles (nearly 70 deg). Ferrajoli, "A modified newton-euler method for dynamic computations in robot fault detection and control," 2009 IEEE International Conference on Robotics and Automation, 2009, pp. Zhan, Robotics: Mechanisms Kinematics, Dynamics and Motion Planning, Tsinghua University Press, China, 2019. As a consequence, the output parameters are seven torques corresponding to seven joints of the robot manipulator. Cubic or quintic polynomials are recommended for planning trajectory. Before running this script, pleas enter the input parameters: q (1×7), qd (1×7), and qdd (1×7). Also, other versions of Matlab are available. The code is implemented in MATLAB R2019b. The parameters of the modified DH coordinates, inertia tensor, centroid coordinates and mass of each link can be found in the iiwamodel file.Using recursive Newton-Euler algorithm to calculate the inverse dynamic model of serial robot manipulator (only rotational joints) with modified DH parameters.In this work, the dynamic model of a 7-DOF robot manipulator has been established. Inverse Dynamics with Recursive Newton-Euler Algorithm
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