Kinematic parameters of goats walking on different slopes and biomimetic walking mechanisms

A comparative analysis of the kinematic parameters of a goat on different slopes was conducted to study the kinematic parameters of goats on different slopes with walking mechanics. The uphill walking processes on different slopes (0°, 5°, 10°, 15°, 20°, 25° and 30°) were recorded by a high speed video system (VRI Phantom M110). The experimental image results were processed and analyzed using PCC and MATLAB software. The kinematic parameters were obtained from the goat walking on different slopes; these parameters are the changes of centroid with displacement, speed with time, and acceleration with time. As the gradient in the uphill process increases, the range of centroid fluctuation ranges from 0.079 to 0.59 and the rate of change ranges from 0.4 to 2.2 m/s, while the acceleration of the goat slope decreases. The present research can provide theoretical basis and experimental data for the design of a biomimetic agricultural slope walking mechanism.