中国物理B ›› 2024, Vol. 33 ›› Issue (1): 18701-18701.doi: 10.1088/1674-1056/ad0148

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Quantitative analysis of the morphing wing mechanism of raptors: IMMU-based motion capture system and its application on gestures of a Falco peregrinus

Di Tang(唐迪)1,†, Liwen Zhu(朱力文)1, Wenxi Shi(施文熙)1, Dawei Liu(刘大伟)2,‡, Yin Yang(杨茵)2, Guorong Yao(姚国荣)3, Senxiang Yan(严森祥)3, Zhongyong Fan(范忠勇)4, Yiwei Lu(陆祎玮)4, and Siyu Wang(王思宇)4   

  1. 1 College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310014, China;
    2 High Speed Aerodynamic Institute, China Aerodynamics Research and Development Center, Mianyang 621000, China;
    3 Department of Radiation Oncology, The First Affiliated Hospital, Zhejiang University, Hangzhou 310009, China;
    4 Zhejiang Museum of Natural History, Hangzhou 310014, China
  • 收稿日期:2023-08-11 修回日期:2023-09-22 接受日期:2023-10-09 出版日期:2023-12-13 发布日期:2024-01-03
  • 通讯作者: Di Tang, Dawei Liu E-mail:tangdi@zjut.edu.cn;13404019740@163.com
  • 基金资助:
    Project supported by the National Natural Science Foundation of China (Grant Nos. 52175279 and 51705459), the Natural Science Foundation of Zhejiang Province, China(Grant No. LY20E050022), and the Key Research and Development Projects of Zhejiang Provincial Science and Technology Department (Grant No. 2021C03122).

Quantitative analysis of the morphing wing mechanism of raptors: IMMU-based motion capture system and its application on gestures of a Falco peregrinus

Di Tang(唐迪)1,†, Liwen Zhu(朱力文)1, Wenxi Shi(施文熙)1, Dawei Liu(刘大伟)2,‡, Yin Yang(杨茵)2, Guorong Yao(姚国荣)3, Senxiang Yan(严森祥)3, Zhongyong Fan(范忠勇)4, Yiwei Lu(陆祎玮)4, and Siyu Wang(王思宇)4   

  1. 1 College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310014, China;
    2 High Speed Aerodynamic Institute, China Aerodynamics Research and Development Center, Mianyang 621000, China;
    3 Department of Radiation Oncology, The First Affiliated Hospital, Zhejiang University, Hangzhou 310009, China;
    4 Zhejiang Museum of Natural History, Hangzhou 310014, China
  • Received:2023-08-11 Revised:2023-09-22 Accepted:2023-10-09 Online:2023-12-13 Published:2024-01-03
  • Contact: Di Tang, Dawei Liu E-mail:tangdi@zjut.edu.cn;13404019740@163.com
  • Supported by:
    Project supported by the National Natural Science Foundation of China (Grant Nos. 52175279 and 51705459), the Natural Science Foundation of Zhejiang Province, China(Grant No. LY20E050022), and the Key Research and Development Projects of Zhejiang Provincial Science and Technology Department (Grant No. 2021C03122).

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摘要： This paper presented a novel tinny motion capture system for measuring bird posture based on inertial and magnetic measurement units that are made up of micromachined gyroscopes, accelerometers, and magnetometers. Multiple quaternion-based extended Kalman filters were implemented to estimate the absolute orientations to achieve high accuracy. Under the guidance of ornithology experts, the extending/contracting motions and flapping cycles were recorded using the developed motion capture system, and the orientation of each bone was also analyzed. The captured flapping gesture of the Falco peregrinus is crucial to the motion database of raptors as well as the bionic design.

关键词: Falco peregrinus, IMMU-based, motion capture system, flapping gesture

Abstract: This paper presented a novel tinny motion capture system for measuring bird posture based on inertial and magnetic measurement units that are made up of micromachined gyroscopes, accelerometers, and magnetometers. Multiple quaternion-based extended Kalman filters were implemented to estimate the absolute orientations to achieve high accuracy. Under the guidance of ornithology experts, the extending/contracting motions and flapping cycles were recorded using the developed motion capture system, and the orientation of each bone was also analyzed. The captured flapping gesture of the Falco peregrinus is crucial to the motion database of raptors as well as the bionic design.

Key words: Falco peregrinus, IMMU-based, motion capture system, flapping gesture

中图分类号:  (Motor systems: Locomotion, flight, vocalization)

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