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김정률,김경수,로날드 피커릴,Kim, Jeong-Yul,Kim, Kyung-Soo,Pickerill, Ron K. 한국지구과학회 2000 한국지구과학회지 Vol.21 No.6
The ichnogenus Protovirgularia McCoy, 1850 is reported from nonmarine strata of the Cretaceous Jinju Formation of the Sacheon area Korea. There, the Jinju Formation is composed mainly of fine-grained sandstone, grey to brownish grey mudstone, and shale which were deposited in a freshwater lacustrine environment. This occurrence represents the fist formal recording of the ichnotaxon from Korea and the first, on a global basis, from a nonmarine depositional environment. 경상남도 사천 지역에 분포한 백악기 진주층의 비해성(非海成) 퇴적층에서 생흔화석 Protovirgularia McCoy, 1850를 보고한다. 이 지역의 진주층은 주로 호수 환경에서 퇴적된 회색의 이암과 셰일 및 세립질 사암으로 구성되어 있다. 이러한 Protovirgularia의 산출은 비해성 퇴적 환경에서 처음으로 보고되는 것이다.
저속 주행 시 도마뱀 몸체의 편요 움직임을 제어하는 허리 및 꼬리의 움직임 원리
김정률(Jeongryul Kim),김종원(Jong-Won Kim),박재흥(Jaeheung Park),김종원(Jongwon Kim) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.7
Mammals such as dogs and cheetahs change their gait from trot to gallop as they run faster. However, lizards always trot for various speeds of running. When mammals run slowly with trot gait, their fore leg and hind leg generate the required force for acceleration or deceleration such that the yaw moments created by these forces cancel each other. On the other hand, when lizards run slowly, their fore legs and hind legs generate the forces for deceleration and acceleration, respectively. In this paper, the yaw motion of a lizard model is controlled by the movement of their waist and tail, and the reaction moment from the ground produced by the hind legs in simulation. The simulation uses the whole body dynamics of a lizard model, which consists of 4 links based on the Callisaurus draconoides. The results show that the simulated trotting of the model is similar to that of a real lizard when the movement of the model is optimized to minimize the reaction moment from the ground. It means that the body of a lizard moves in such a way that the reaction moment from the ground is minimized. This demonstrates our hypothesis on how lizards trot using body motion.