Coordination of steering in a free-trotting quadruped
Coordination of steering in a free-trotting quadruped
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DOI：
10.1007/s00359-006-0187-5
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发表时间：
2007-03-01
影响因子：
2.1
通讯作者：
Golani, Ilan
中科院分区：
文献类型：
--
作者：
Gruntman, Eyal;Benjamini, Yoav;Golani, Ilan
通常，人们通过限制动物的路径和/或速度来研究运动，重点是步幅和步幅运动学。在这里，我们结合了支撑和挥杆阶段的腿和躯干的测量，在以不同的速度和曲率小跑的过程中。这种模式将动物从跑步机和跑道的限制释放到开放空间。斜步是一种新的运动单位，其定义是将两条支撑斜腿之间的直线作为描述摆动的两条斜腿之间的虚线动力学的参照系。这一分析表明，在自由小跑过程中，鼠标使用三种类型的步骤：注视、打开和关闭步骤。在沿着直线前进的过程中，鼠标使用注视步骤，其中摆动的对角线保持固定的方向，落在支撑的前腿上；在沿着曲线路径前进的过程中，鼠标交替使用打开和关闭步骤。如果同一类型的两个步骤是连续执行的，则它们会导致方向的突然改变。我们的结果揭示了如何用摆动的对角线转向，同时使用几乎两足的步态，产生整个自由小跑行为的曲目。
Typically, locomotion has been studied by restricting the animal's path and/or speed, focusing on stride and step kinematics. Here we incorporate measurements of the legs and trunk in the support and swing phases, during trotting with various speeds and curvatures. This paradigm releases the animal from the confines of the treadmill and runway into the open space. The diagonal step, a new unit of locomotion, is defined by regarding the line between the two supporting diagonal legs as a frame of reference for the description of the dynamics of the virtual line between the two swinging diagonal legs. This analysis reveals that during free trotting the mouse uses three types of steps: fixating, opening, and closing steps. During progression along a straight path, the mouse uses fixating steps, in which the swinging diagonal maintains a fixed direction, landing on the supporting foreleg; during progression along a curved path the mouse uses opening and closing steps alternately. If two steps of the same type are performed sequentially, they engender an abrupt change of direction. Our results reveal how steering with the swinging diagonal, while using a virtually bipedal gait, engenders the whole repertoire of free-trotting behavior.