Biomechanics has strong implications in both medicine and robotics as it is concerned with the study of biological systems from an engineering point of view. In this work we propose a physics-based system for accurate simulation of dogpsilas spine at walking gait. The spinal column has been modeled as a set of rigid bodies, representing the vertebrae, connected by joints. Real-time dynamic simulation has been carried out from motion captured data collected from skin markers. A feedback controller has been developed for error minimization. The main contribution of the paper is the development of a tool for analyzing the forces acting on the spine. We report experiments performed with a boxer dog walking on a treadmill. Potential applications of this study involve bio-inspired robotics and computer graphics, as well as diagnostic applications for live animals.

Physically-based Simulation of the Spine in Dog Walking / Aleotti, Jacopo; Caselli, Stefano; Bracchi, Pier Giovanni; S., Gosi. - (2008), pp. 2283-2288. (Intervento presentato al convegno IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'08) tenutosi a Nice, France nel 22-26 Settembre 2008).

Physically-based Simulation of the Spine in Dog Walking

ALEOTTI, Jacopo;CASELLI, Stefano;BRACCHI, Pier Giovanni;
2008-01-01

Abstract

Biomechanics has strong implications in both medicine and robotics as it is concerned with the study of biological systems from an engineering point of view. In this work we propose a physics-based system for accurate simulation of dogpsilas spine at walking gait. The spinal column has been modeled as a set of rigid bodies, representing the vertebrae, connected by joints. Real-time dynamic simulation has been carried out from motion captured data collected from skin markers. A feedback controller has been developed for error minimization. The main contribution of the paper is the development of a tool for analyzing the forces acting on the spine. We report experiments performed with a boxer dog walking on a treadmill. Potential applications of this study involve bio-inspired robotics and computer graphics, as well as diagnostic applications for live animals.
2008
9781424420575
Physically-based Simulation of the Spine in Dog Walking / Aleotti, Jacopo; Caselli, Stefano; Bracchi, Pier Giovanni; S., Gosi. - (2008), pp. 2283-2288. (Intervento presentato al convegno IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'08) tenutosi a Nice, France nel 22-26 Settembre 2008).
File in questo prodotto:
File Dimensione Formato  
IROS2008-Physically-Based-pubblicato.pdf

non disponibili

Tipologia: Documento in Post-print
Licenza: Creative commons
Dimensione 1.06 MB
Formato Adobe PDF
1.06 MB Adobe PDF   Visualizza/Apri   Richiedi una copia

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11381/2294237
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 1
  • ???jsp.display-item.citation.isi??? 1
social impact