Gait switching with phase reversal of locomotory waves in the centipede Scolopocryptops rubiginosus
Gait switching with phase reversal of locomotory waves in the centipede Scolopocryptops rubiginosus
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DOI：
10.1088/1748-3190/ac482d
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发表时间：
2022-03
影响因子：
3.4
通讯作者：
S. Kuroda;N. Uchida;T. Nakagaki
中科院分区：
文献类型：
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作者：
S. Kuroda;N. Uchida;T. Nakagaki
利用运动波爬行是无肢和多足无脊椎动物的常见运动方法，并刺激了柔性运动的仿生工程。人们普遍认为，对于给定物种来说，运动波的方向是固定的。然而，我们发现蜈蚣（Scolopocryptops rubiginosus）能够灵活地产生步态，以允许方向变化的运动波，具体取决于（i）运动速度和（ii）地形的物理条件。我们还发现了一种新型蜈蚣的游泳步态，与迄今为止已知的类似鳗鱼的游泳步态不同，它利用水平身体波动的向后行波。研究人员在各种条件下检查了蜈蚣的步态模式，并详细分析了波是如何切换的。我们发现步态模式与步幅长度的控制相关，而不是与步频的控制相关。讨论了与我们的观察相一致的蜈蚣步态转变的可能情况。这一发现可能为响应不规则地形的灵活步态切换的生物启发控制提供了线索。
Crawling using locomotory waves is a common method of locomotion for limbless and many-legged invertebrates and stimulates the biomimetic engineering of flexible locomotion. It is generally believed that the direction of locomotory waves is fixed for a given species. However, we found that a centipede, Scolopocryptops rubiginosus, flexibly generated its gait to allow for locomotory waves that varied in direction, depending on (i) locomotion speed and (ii) the physical conditions of terrain. We also found a new type of centipede’s swimming gait unlike eel-like way known so far which is using posteriorly traveling waves of horizontal body undulation. The gait patterns of the centipede were examined in various conditions and analyzed how the waves switched in detailed. We showed that gait patterns were associated with control of stride length rather than stride frequency. Discussion was made on a possible scenario of the gait transition in the centipede compatible with our observations. This finding may give a hint at bio-inspired control of flexible gait switching in response to irregular terrain.