Inertial Tail Effects during Righting of Squirrels in Unexpected Falls: From Behavior to Robotics.
Inertial Tail Effects during Righting of Squirrels in Unexpected Falls: From Behavior to Robotics.
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DOI：
10.1093/icb/icab023
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发表时间：
2021-09-08
影响因子：
2.6
通讯作者：
Jusufi A
中科院分区：
文献类型：
--
作者：
Fukushima T;Siddall R;Schwab F;Toussaint SLD;Byrnes G;Nyakatura JA;Jusufi A
树栖哺乳动物在高度三维且不连续的栖息地中航行。在树栖哺乳动物中，松鼠表现出令人印象深刻的敏捷性。在最近“疯传”的 YouTube 视频中，毫无戒心的松鼠被机械弹射离开轨道，导致身体最初不受控制的旋转。有趣的是，它们巧妙地利用尾部运动来稳定自己，最终让松鼠成功着陆。在这里，我们分析了松鼠从大的身体角速率中恢复的机制。我们从视频中分析，松鼠首先用尾巴来帮助稳定头部，以目视确定着陆点。然后尾巴开始旋转以帮助稳定身体，为着陆做好准备。为了进一步分析这种尾部在空中使用的机制，我们建立了多体松鼠模型，并展示了基于身体惯性矩变化和轴之间主动角动量传递的扶正策略。为了验证假设的策略，我们制作了一个类似松鼠的机器人，并演示了跌倒稳定实验。我们的结果表明，松鼠的长尾巴尽管只占体重的 3%，但可以通过惯性稳定快速旋转的身体。这项研究有助于更好地理解长尾巴对于生活在树木等复杂环境中的动物的扶正机制的重要性。
Arboreal mammals navigate a highly three dimensional and discontinuous habitat. Among arboreal mammals, squirrels demonstrate impressive agility. In a recent “viral” YouTube video, unsuspecting squirrels were mechanically catapulted off of a track, inducing an initially uncontrolled rotation of the body. Interestingly, they skillfully stabilized themselves using tail motion, which ultimately allowed the squirrels to land successfully. Here we analyze the mechanism by which the squirrels recover from large body angular rates. We analyzed from the video that squirrels first use their tail to help stabilizing their head to visually fix a landing site. Then the tail starts to rotate to help stabilizing the body, preparing themselves for landing. To analyze further the mechanism of this tail use during mid-air, we built a multibody squirrel model and showed the righting strategy based on body inertia moment changes and active angular momentum transfer between axes. To validate the hypothesized strategy, we made a squirrel-like robot and demonstrated a fall-stabilizing experiment. Our results demonstrate that a squirrel’s long tail, despite comprising just 3% of body mass, can inertially stabilize a rapidly rotating body. This research contributes to better understanding the importance of long tails for righting mechanisms in animals living in complex environments such as trees.
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影响因子：
2.4
作者：
DUNBAR, DC
通讯作者：
DUNBAR, DC
DOI：
10.1002/jez.2059
发表时间：
2016-12-01
影响因子：
2.8
作者：
Kilbourne, Brandon M.;Carrier, David R.
通讯作者：
Carrier, David R.
影响因子：
2.5
作者：
Nakai, M
通讯作者：
Nakai, M
影响因子：
2.4
作者：
PASSERELLO, CE;HUSTON, RL
通讯作者：
HUSTON, RL
影响因子：
3.4
作者：
Jusufi, A.;Kawano, D. T.;Full, R. J.
通讯作者：
Full, R. J.