Kinematic Simulation of Spider's Walking by Image Processing

摘要

Based on the increased inspiration of robot designers from the nature, especially in fabrication of legged robot which are designed to mimic the walking style of insect over uneven and rough surface, the need to carry out focused studies on this subject is promising. In this work, walking manner of a kind of spider named Araneus diadematus is investigated .Image processing technique is used to obtain kinematic parameters of spiderpsilas legs, and position of defined points on the spider's legs was recorded in terms of time. After extracting the necessary data, a linkage mechanism of the spider's legs was designed. By using the position of defined points on spider's legs as input to our model, traversed path by spiderpsilas leg was simulated. By considering trigonometric relation, and position of spiderpsilas joints with respect to them, parameters such as angle, angular velocity and angular acceleration of the links were obtained that can be used for selection and control of actuators in the robotic system in order to mimicry of the spiderpsilas walking style.