Biomechanical analyses of rat locomotion during walking and climbing as a base for the design and construction of climbing robots

摘要

Ecological generalists, such as rats, may be used as biological paragons for the design and construction of adaptive light-weight climbing robots. We applied the inverse dynamic approach (IDA) on rats walking and climbing at different inclinations in order to estimate joint forces, torques and power in extremities and the trunk. If we understand the adaptive nature of small mammals' moving on sloped supports, via biomimetic transfer the principles uncovered may be applied to the design and construction of more adaptive climbing machines.