{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,16]],"date-time":"2026-10-16T01:33:36Z","timestamp":1792114416838,"version":"4.4.0"},"reference-count":32,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2024,2,28]],"date-time":"2024-02-28T00:00:00Z","timestamp":1709078400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51879063"],"award-info":[{"award-number":["51879063"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Biomimetics"],"abstract":"<jats:p>Longer distance water delivery culverts pose obstacles such as deposited silt, stones, and dead trees. In this paper, a crawling robot is designed to mimic the joint structure of a turtle using bionic design principles. The mechanism and gait of the robot are analyzed. The kinematics model of the robot is established using the D-H method and analytical approach, while the dynamics model is established using Lagrange\u2019s method. Based on kinematics and dynamics analysis theory, compound cycloid and cubic polynomial motion trajectories for the robot foot are planned along with a crawling gait resembling that of a turtle\u2019s abdomen. Simulation experiments and scale prototype experiments confirm that when gait parameters are identical, the energy consumption of compound cycloid trajectory exceeds that of cubic polynomial foot trajectory. When planning these two types of foot trajectories, it was observed that energy consumption ratio decreases with increasing step length but increases with increasing step height.<\/jats:p>","DOI":"10.3390\/biomimetics9030147","type":"journal-article","created":{"date-parts":[[2024,2,28]],"date-time":"2024-02-28T06:14:22Z","timestamp":1709100862000},"page":"147","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Kinematics Analysis and Gait Study of Bionic Turtle Crawling Mechanism"],"prefix":"10.3390","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3036-1344","authenticated-orcid":false,"given":"Zhuo","family":"Wang","sequence":"first","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wanlang","family":"Peng","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0486-7034","authenticated-orcid":false,"given":"Bo","family":"Zhang","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,2,28]]},"reference":[{"key":"ref_1","first-page":"1","article-title":"Research progress and development trend of footed crawling robots","volume":"41","author":"Chen","year":"2020","journal-title":"J. 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