Method and system for determining degree of freedom of spine of robotic mouse

Abstract

The invention relates to a method and system for determining the degree of freedom of the spine of a robotic mouse. The method comprises the steps that 33 joint points of the spine of a to-be-tested mouse are marked according to a video that the to-be-tested mouse moves under X-rays, and the relation between the position of each joint point and time is obtained; an included angle change value of the adjacent joint points at each moment and an absolute value of a difference value of the included angle change values of the joint points at the adjacent moments are determined; a first constraint and a second constraint are obtained; the included angle change value of the adjacent joint points at each moment and the absolute value of the difference value of the included angle change values of the joint points at the adjacent moments are screened according to the joint points of the first constraint and the second constraint, and reserved joint point sets are determined; the reserved joint point sets are respectively extracted by adopting principal component analysis, and extracted joint point sets are determined; and the degree of freedom of the spine of the robotic mouse is determinedaccording to the extracted joint point sets. The degree of freedom of the spine of the robotic mouse can be accurately determined, and then the bionic precision of the robotic mouse is improved.

Description

technical field [0001] The invention relates to the field of bionic mechanism design, in particular to a method and system for determining the degree of freedom of the spine of a robotic mouse. Background technique [0002] In the existing bionic mechanism design, more attention is paid to the large biological joints with obvious configuration and easy to analyze, such as the main joints of the legs such as hip joints, knee joints, and ankle joints. The number of main joints in the leg is small, the motion analysis is simple, and the degrees of freedom are easy to extract. In the design of bionic mechanism, the selection and design of degrees of freedom are very important, and a reasonable design method of degrees of freedom can provide guidance for the design of bionic mechanisms. [0003] Among them, for the degree of freedom design of the mouse legs and feet, reference can be made to other bionic quadruped robots. However, the method for designing the degree of freedom ...

AI Technical Summary

Problems solved by technology

That is, the determination of the degrees of freedom of the rodent spine with a compact and complex structure containing 33 major joints cannot be effectively realized

That is to say, the bionic accuracy of the existing robot mice still needs to be improved

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