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Optimising body layout design of limbed machines

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Abstract

This paper presents our efforts to explain why mammals have large thigh muscles while insects have small ones. After a discussion of this observation a definition of body foot ratio is defined which describes how animals stand and how their legs are arranged. To investigate the mechanics, we present a closed optimum solution of the body foot ratio for a 2D two-leg walking machine. A multi-walker is used as a case for 3D general analysis, and the numerical simulation is presented. Both 2D and 3D case studies can explain the above observations of mammals and insects. These findings can also be used as a guide for the design of man-made limbed machines.

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Authors and Affiliations

  1. Computing Department, Gloucestershire University, GL50 2HR, Cheltenham, UK

    Shu-jun Zhang & Kevin Hapeshi

  2. Key Laboratory of Terrain-Machine Bionics Engineering (Ministry of Education, China), Jilin University, 130022, Changchun, P. R. China

    ** Tong & Dong-hui Chen

Authors
  1. Shu-jun Zhang
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  2. ** Tong
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  3. Kevin Hapeshi
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  4. Dong-hui Chen
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Correspondence to Shu-jun Zhang.

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Zhang, Sj., Tong, J., Hapeshi, K. et al. Optimising body layout design of limbed machines. J Bionic Eng 4, 117–122 (2007). https://doi.org/10.1016/S1672-6529(07)60023-7

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  • DOI: https://doi.org/10.1016/S1672-6529(07)60023-7

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