Simple analytical model reveals the functional role of embodied sensorimotor interaction in hexapod gaits.
Simple analytical model reveals the functional role of embodied sensorimotor interaction in hexapod gaits.
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DOI：
10.1371/journal.pone.0192469
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发表时间：
2018
期刊：
影响因子：
3.7
通讯作者：
Matsuno F
中科院分区：
文献类型：
--
作者：
Ambe Y;Aoi S;Nachstedt T;Manoonpong P;Wörgötter F;Matsuno F
昆虫的步态形式多样，各具特点，并能根据自身的速度平稳地变换步态。这些步态来自昆虫的神经控制和身体动力系统之间通过感觉反馈发生的具体感觉运动相互作用。感觉反馈在运动等协调运动中发挥着关键作用，特别是在竹节虫中。虽然许多以前开发的昆虫模型可以产生不同的昆虫步态，体现的感觉运动相互作用的功能作用，昆虫的肢体间协调仍然不清楚，因为它们的复杂性。在这项研究中，我们提出了一个简单的物理模型，是服从数学分析，以解释这些相互作用的功能作用清楚。我们专注于一个脚接触的感觉反馈称为相位复位，它调节腿回缩时间的基础上触地信息。首先，我们使用了六足机器人，以确定是否用于腿与感觉反馈的分布式解耦振荡器产生昆虫般的步态，通过体现感觉运动的相互作用。机器人产生了两种不同的步态，其中一种具有与昆虫步态相似的特征。接下来，我们提出了一个简单的模型作为一个最小的模型，使我们能够分析和解释的步态机制，通过体现感觉运动的相互作用。简单的模型包括一个刚体与无质量弹簧作为腿，腿控制使用振荡器相位与相位复位，和治理方程减少，使他们可以解释只有使用振荡器相位与一些近似。这种简单性导致通过扰动分析的六足步态的解析解，尽管复杂的体现感觉运动的相互作用。这是第一个研究提供了一个分析模型昆虫步态在这些相互作用条件下。我们的结果阐明了这种特定的足部接触感觉反馈如何有助于在六足运动期间产生类似昆虫的同侧肢体间协调。
Insects have various gaits with specific characteristics and can change their gaits smoothly in accordance with their speed. These gaits emerge from the embodied sensorimotor interactions that occur between the insect’s neural control and body dynamic systems through sensory feedback. Sensory feedback plays a critical role in coordinated movements such as locomotion, particularly in stick insects. While many previously developed insect models can generate different insect gaits, the functional role of embodied sensorimotor interactions in the interlimb coordination of insects remains unclear because of their complexity. In this study, we propose a simple physical model that is amenable to mathematical analysis to explain the functional role of these interactions clearly. We focus on a foot contact sensory feedback called phase resetting, which regulates leg retraction timing based on touchdown information. First, we used a hexapod robot to determine whether the distributed decoupled oscillators used for legs with the sensory feedback generate insect-like gaits through embodied sensorimotor interactions. The robot generated two different gaits and one had similar characteristics to insect gaits. Next, we proposed the simple model as a minimal model that allowed us to analyze and explain the gait mechanism through the embodied sensorimotor interactions. The simple model consists of a rigid body with massless springs acting as legs, where the legs are controlled using oscillator phases with phase resetting, and the governed equations are reduced such that they can be explained using only the oscillator phases with some approximations. This simplicity leads to analytical solutions for the hexapod gaits via perturbation analysis, despite the complexity of the embodied sensorimotor interactions. This is the first study to provide an analytical model for insect gaits under these interaction conditions. Our results clarified how this specific foot contact sensory feedback contributes to generation of insect-like ipsilateral interlimb coordination during hexapod locomotion.
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影响因子：
2.4
作者：
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通讯作者：
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影响因子：
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JAYES, AS
影响因子：
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作者：
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腿部机器人中跨越协调的自适应控制策略：审查。
影响因子：
3.1
作者：
Aoi S;Manoonpong P;Ambe Y;Matsuno F;Wörgötter F
通讯作者：
Wörgötter F