扬子鳄在水平硬质基底爬行的运动学与动力学研究

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中图分类号：TH113 文献标志码：A 文章编号：1671-5276（2025）06-0035-05

Abstract：Thisstudydiscuses Chinesealigators'kinematicanddynamicscharacteristicsduring crawlingonahorzontal，igid， flatsurface.Usingahigh-precision motioncapture systemcombinedwithaforcesensor platform，thegait patternsandground reactionforcesofthelimbsduringsteady-spedcrawlingonaflatsurface wasrecorded.Theresultsindicatethatthehindlimbs adopta more cursorial posture，whilethe forelimbs areclosertoasprawling，which helps toreduce joint torques.Based onthe gaitpaternsandthegroundreactionforcesof thelimbs，itisfoundthattheforelimbsprimarilyfunctionforbraking，whilethe hindlimbs mainlycontribute topropulsion.Therobot was trainedbyreinforcementlearningandthegaitofaligator was reproduced.Thisstudyisconducivetoin-depthunderstandingofthelocomotionpatersandecologicaladaptationsofcrocodilian species and provides a theoretical reference for the design of bio-inspired robots.

Keywords：Chinese alligator；bionic；biomechanics；gait characteristics；ground reaction

0 引言

扬子鳄（Alligatorsinensis）是中国特有的鳄类，起源于中生代，因此被称为爬行动物的“活化石”。（剩余8123字）