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dc.contributor.advisorWyvill, Geoff
dc.contributor.advisorPaulin, Michael G
dc.contributor.advisorMcCane, Brendan
dc.contributor.authorVisser, Robertus Martinus
dc.date.available2011-08-16T23:29:36Z
dc.date.copyright2011
dc.identifier.citationVisser, R. M. (2011). Physics-Based Simulation of Canine Gait (Thesis, Doctor of Philosophy). University of Otago. Retrieved from http://hdl.handle.net/10523/1846en
dc.identifier.urihttp://hdl.handle.net/10523/1846
dc.description.abstractFor most animals, locomotion is essential for survival, and it is advantageous to do this efficiently and with minimal neural control. Research has shown that efficient walking is possible without control, resulting purely from the mechanical design of the walker. It is understood that in running gaits, elasticity of muscles and tendons plays a role in preservation of energy. We first describe a rigid body physics engine that is designed specifically for simulating skeletal locomotion. This engine is then used to reproduce canine locomotion in two separate approaches. The first approach is to reproduce the gait of a real dog, as recorded using motion capture. Control is based on local quadratic minimization, and various techniques are used for stability, balance and steering. The second approach is to simulate efficient hoppers, including a two legged alternating hopper that is based on the anatomy of a dog. This hopper has minimal energy loss during ground collisions, and is controlled by changing muscle contractions when they are slack.
dc.format.mimetypeapplication/pdf
dc.format.mimetypeapplication/x-iso9660-image
dc.format.mimetypetext/plain
dc.language.isoen
dc.publisherUniversity of Otago
dc.rightsAll items in OUR Archive are provided for private study and research purposes and are protected by copyright with all rights reserved unless otherwise indicated.
dc.subjectPhysics-Based Simulation
dc.subjectPassive Dynamics
dc.subjectElasticity
dc.subjectRigid Body Simulation
dc.subjectLocomotion
dc.subjectMuscle
dc.subjectTendon
dc.titlePhysics-Based Simulation of Canine Gait
dc.typeThesis
dc.date.updated2011-08-03T11:58:21Z
thesis.degree.disciplineComputer Science
thesis.degree.nameDoctor of Philosophy
thesis.degree.grantorUniversity of Otago
thesis.degree.levelDoctoral Theses
otago.supplementaryuploadYes
otago.openaccessOpen
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