Undulation enables gliding in flying snakes
Undulation enables gliding in flying snakes
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DOI：
10.1038/s41567-020-0935-4
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发表时间：
2020-06-29
期刊：
影响因子：
19.6
通讯作者：
Socha, John J.
中科院分区：
文献类型：
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作者：
Yeaton, Isaac J.;Ross, Shane D.;Socha, John J.
对飞蛇的观测为考虑波动的滑翔动力学模型的发展提供了信息。这项工作表明，空中波动在蛇身上有着与其他动物不同的功能。当飞蛇滑翔时，它们使用空中波动。为了确定空中波动是一种飞行控制策略还是横向波动的非功能性行为痕迹，我们使用高速运动捕捉测量了蛇滑翔，并开发了一种新的滑翔动力学模型。对蛇的翼身的重建显示，空中波动是由水平波和垂直波组成的，它们的相位相差90度，频率相差两倍。利用这些结果，我们开发了一个三维的数学模型，蛇飞行，结合空气动力学和惯性效应。虽然没有起伏的模拟滑翔达到了一定的水平距离，但它们在生物学上是不现实的，因为它们由于滚动和俯仰不稳定而失败。与此相反，包括波动稳定的旋转运动，并显着增加滑翔性能。这项工作表明，空中波动的蛇服务于不同的功能比已知的使用波动在其他动物，并提出了一个新的模板控制动态飞行机器人。
Observations of flying snakes inform the development of a dynamical model of gliding taking undulation into account. This work suggests that aerial undulation has a different function in snakes than in other animals.When flying snakes glide, they use aerial undulation. To determine if aerial undulation is a flight control strategy or a non-functional behavioural vestige of lateral undulation, we measured snake glides using high-speed motion capture and developed a new dynamical model of gliding. Reconstructions of the snake's wing-body reveal that aerial undulation is composed of horizontal and vertical waves, whose phases differ by 90 degrees and whose frequencies differ by a factor of two. Using these results, we developed a three-dimensional mathematical model of snake flight that incorporates aerodynamic and inertial effects. Although simulated glides without undulation attained some horizontal distance, they are biologically unrealistic because they failed due to roll and pitch instabilities. In contrast, the inclusion of undulation stabilized the rotational motion and markedly increased glide performance. This work demonstrates that aerial undulation in snakes serves a different function than known uses of undulation in other animals, and suggests a new template of control for dynamic flying robots.