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Effects of body movement on yaw motion in bipedal running lizard by dynamic simulation

Lizards run quickly and stably in a bipedal gait, with their bodies exhibiting a lateral S-shaped undulation. We investigate the relationship between a lizard’s bipedal running and its body movement with the help of a dynamic simulation. In this study, a dynamic theoretical model of lizard is assume...

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Autores principales: Kim, Jeongryul, Kim, Hongmin, Park, Jaeheung, Kim, Hwa Soo, Seo, TaeWon
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Public Library of Science 2020
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7775063/
https://www.ncbi.nlm.nih.gov/pubmed/33382751
http://dx.doi.org/10.1371/journal.pone.0243798
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author Kim, Jeongryul
Kim, Hongmin
Park, Jaeheung
Kim, Hwa Soo
Seo, TaeWon
author_facet Kim, Jeongryul
Kim, Hongmin
Park, Jaeheung
Kim, Hwa Soo
Seo, TaeWon
author_sort Kim, Jeongryul
collection PubMed
description Lizards run quickly and stably in a bipedal gait, with their bodies exhibiting a lateral S-shaped undulation. We investigate the relationship between a lizard’s bipedal running and its body movement with the help of a dynamic simulation. In this study, a dynamic theoretical model of lizard is assumed as a three-link consisting of an anterior and posterior bodies, and a tail, with morphometrics based on Callisaurus draconoides. When a lizard runs straight in a stable bipedal gait, its pelvic rotation is periodically synchronized with its gait. This study shows that the S-shaped body undulation with the yaw motion is generated by minimizing the square of joint torque. Furthermore, we performed the biomechanical simulation to figure out the relationship between the lizard’s lateral body undulation and the bipedal running locomotion. In the biomechanical simulation, all joint torques significantly vary by the waist and tail’ motions at the same locomotion. Besides, when the waist and tail joint angles increase, the stride length and duration of the model also increase, and the stride frequency decreases at the same running speed. It means that the lizard’s undulatory body movements increase its stride and help it run faster. In this study, we found the benefits of the lizard’s undulatory body movement and figured out the relationship between the body movement and the locomotion by analyzing the dynamics. In the future works, we will analyze body movements under different environments with various simulators.
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spelling pubmed-77750632021-01-11 Effects of body movement on yaw motion in bipedal running lizard by dynamic simulation Kim, Jeongryul Kim, Hongmin Park, Jaeheung Kim, Hwa Soo Seo, TaeWon PLoS One Research Article Lizards run quickly and stably in a bipedal gait, with their bodies exhibiting a lateral S-shaped undulation. We investigate the relationship between a lizard’s bipedal running and its body movement with the help of a dynamic simulation. In this study, a dynamic theoretical model of lizard is assumed as a three-link consisting of an anterior and posterior bodies, and a tail, with morphometrics based on Callisaurus draconoides. When a lizard runs straight in a stable bipedal gait, its pelvic rotation is periodically synchronized with its gait. This study shows that the S-shaped body undulation with the yaw motion is generated by minimizing the square of joint torque. Furthermore, we performed the biomechanical simulation to figure out the relationship between the lizard’s lateral body undulation and the bipedal running locomotion. In the biomechanical simulation, all joint torques significantly vary by the waist and tail’ motions at the same locomotion. Besides, when the waist and tail joint angles increase, the stride length and duration of the model also increase, and the stride frequency decreases at the same running speed. It means that the lizard’s undulatory body movements increase its stride and help it run faster. In this study, we found the benefits of the lizard’s undulatory body movement and figured out the relationship between the body movement and the locomotion by analyzing the dynamics. In the future works, we will analyze body movements under different environments with various simulators. Public Library of Science 2020-12-31 /pmc/articles/PMC7775063/ /pubmed/33382751 http://dx.doi.org/10.1371/journal.pone.0243798 Text en © 2020 Kim et al http://creativecommons.org/licenses/by/4.0/ This is an open access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0/) , which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
spellingShingle Research Article
Kim, Jeongryul
Kim, Hongmin
Park, Jaeheung
Kim, Hwa Soo
Seo, TaeWon
Effects of body movement on yaw motion in bipedal running lizard by dynamic simulation
title Effects of body movement on yaw motion in bipedal running lizard by dynamic simulation
title_full Effects of body movement on yaw motion in bipedal running lizard by dynamic simulation
title_fullStr Effects of body movement on yaw motion in bipedal running lizard by dynamic simulation
title_full_unstemmed Effects of body movement on yaw motion in bipedal running lizard by dynamic simulation
title_short Effects of body movement on yaw motion in bipedal running lizard by dynamic simulation
title_sort effects of body movement on yaw motion in bipedal running lizard by dynamic simulation
topic Research Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7775063/
https://www.ncbi.nlm.nih.gov/pubmed/33382751
http://dx.doi.org/10.1371/journal.pone.0243798
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