Please use this identifier to cite or link to this item: https://doi.org/10.1177/0142331210366646
Title: Model validation for a pair of biologically abstracted quadruped forelimbs through the design of experiment (DOE) technique
Authors: Vadakkepat, P. 
Tan, S.J. 
Hong, C.Y.
Keywords: design of experiment
model validation
quadruped forelimb
trot gait
Issue Date: Apr-2012
Source: Vadakkepat, P., Tan, S.J., Hong, C.Y. (2012-04). Model validation for a pair of biologically abstracted quadruped forelimbs through the design of experiment (DOE) technique. Transactions of the Institute of Measurement and Control 34 (2-3) : 213-235. ScholarBank@NUS Repository. https://doi.org/10.1177/0142331210366646
Abstract: This paper presents a statistical approach used for model validation of a pair of biologically abstracted quadruped forelimb. The forelimb design is abstracted from the skeletal anatomy of a typical canine dog, introducing an additional link in place of the scapula. Parameter limits are obtained from known biological data of a typical canine during locomotion. Model performance is based on quadruped forelimb trot gaits at 0.8, 1 and 1.2 Hz stride frequencies with sinusoidal joint rotations. Successive applications of the design of experiment statistical tool allows for quick model validation with respect to model variables. Results are confirmed using tedious factorial simulations coupled with a simple two-stage manual verification procedure. Forelimb performance indicates a correlation of high-speed trot motion with narrow profiles with model stability dominated by the neck-spine joint at low speeds. © 2010 The Institute of Measurement and Control.
Source Title: Transactions of the Institute of Measurement and Control
URI: http://scholarbank.nus.edu.sg/handle/10635/82709
ISSN: 01423312
DOI: 10.1177/0142331210366646
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