A distributed control model for the air-righting reflex of a cat
A distributed control model for the air-righting reflex of a cat
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DOI：
10.1007/s004220050488
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发表时间：
1998-11-01
影响因子：
1.9
通讯作者：
Tsai, DL
中科院分区：
文献类型：
--
作者：
Arabyan, A;Tsai, DL
提出了一种多节、多关节的动物坠落模型，以检验两阶段控制方案在零动量自扶正机动中的有效性。该模型包含的自由度比执行自扶正机动所需的自由度大得多，因此能够为同一任务提供多个解决方案。分散控制方案的目的是在最短的时间内实现总转弯，并在转弯后保持相对于重力的稳定方向。该方案能够确定执行运动任务所需的步骤顺序，并且还包含学习功能。给出了各种模拟的结果，并讨论了它们的含义。
A multisegment, multijoint model of a falling animal is presented to examine the effectiveness of a two-stage control scheme in a zero-momentum self-righting maneuver. The model contains a much larger number of degrees of freedom than is required to execute a self-righting maneuver and is thus capable of providing multiple solutions for the same task. The decentralized control scheme is designed to achieve gross turning in minimum time and to maintain a steady orientation relative to gravity after the turn has been achieved. The scheme is able to determine the sequence of steps necessary to execute the motor task and also incorporates learning features. Results from various simulations are presented and their implications discussed.