Biomimetic walking mechanisms: Kinematic parameters of goats walking on different slopes.

In order to study bionic walking machinery, the uphill walking processes on different slopes (0 degrees, 10 degrees, 20 degrees, and 30 degrees) were recorded by a high speed video system (VRI Phantom M110). The kinematics parameters of goat slope are analyzed using PCC and ORIGIN software. Goat's average speed decreases with the increase in gradient. The average speed of goats on the 0 degrees slope, 10 degrees slope, 20 degrees slope, and 30 degrees slope are 1.72 m/s, 1.352 m/s, 0.742 m/s, and 0.609 m/s. In the Y axis direction, the variation ranges from 0.1 m to 0.37 m. The left hind legs are basically the same as the feet of the right hind legs. In the Y axis direction, the variation ranges from 0.1 m to 0.195 m. The length of the change in the X axis is greater than the posterior foot. The range of hip joint angle changes is from 46.1(0) to 135.5(0). The knee joint angle changes is from 87.9(0) to 179.8(0). The hip joint angle of hind leg changes from 115.3(0) to 170(0). The knee joint angle of hind leg changes from 80.5(0) to 172.8(0). The present research can provide theoretical basis for the design of a biomimetic agricultural walking mechanism.