How honeybees make grazing landings on flat surfaces
How honeybees make grazing landings on flat surfaces
复制标题
DOI：
10.1007/s004220000162
复制
发表时间：
2000-09-01
影响因子：
1.9
通讯作者：
Venkatesh, S
中科院分区：
文献类型：
--
作者：
Srinivasan, MV;Zhang, SW;Venkatesh, S
自由飞行的蜜蜂降落在平坦的水平表面上时被拍摄下来，以调查潜在的视觉运动控制策略。结果表明：(1)着陆蜜蜂以较浅的下降角接近地面；(2)当它们接近地面时，它们倾向于保持表面图像的角速度不变；(3)瞬时下降速度与瞬时前进速度成正比。这些特征反映了一种实现平稳着陆的令人惊讶的简单和有效的策略，通过该策略，当接近地面时，前进和下降速度会自动降低，并且在触地时两者都接近于零。不需要明确了解飞行速度或离地面的高度。建立了控制方案的模型，并对其预测结果进行了验证。它还表明，在着陆过程中，蜜蜂不断减速，并在接近地面时保持预计的着陆时间恒定。该着陆策略的可行性通过在配备了视觉的机器人门架上的实施得到了验证。
Freely flying bees were filmed as they landed on a flat, horizontal surface, to investigate the underlying visuomotor control strategies. The results reveal that (1) landing bees approach the surface at a relatively shallow descent angle; (2) they tend to hold the angular velocity of the image of the surface constant as they approach it; and (3) the instantaneous speed of descent is proportional to the instantaneous forward speed. These characteristics reflect a surprisingly simple and effective strategy for achieving a smooth landing, by which the forward and descent speeds are automatically reduced as the surface is approached and are both close to zero at touchdown. No explicit knowledge of flight speed or height above the ground is necessary. A model of the control scheme is developed and its predictions are verified. It is also shown that, during landing, the bee decelerates continuously and in such a way as to keep the projected time to touchdown constant as the surface is approached. The feasibility of this landing strategy is demonstrated by implementation in a robotic gantry equipped with vision.