A proprioceptive neuromechanical theory of crawling
A proprioceptive neuromechanical theory of crawling
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DOI：
10.1098/rspb.2014.1092
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发表时间：
2014-09-07
影响因子：
4.7
通讯作者：
Mahadevan, L.
中科院分区：
文献类型：
--
作者：
Paoletti, P.;Mahadevan, L.
许多软体动物的运动是由身体沿着有节奏的收缩和伸展波的传播驱动的。这些波被经典地归因于体现在中央模式发生器（CPG）中的神经系统中的全局同步的周期性模式。然而，在许多原始生物中，如蚯蚓和昆虫幼虫，CPG的证据很弱，甚至不存在。我们提出了一个神经力学模型的节奏协调爬行，避免了需要一个CPG，通过本地耦合的本地神经肌肉动力学的身体的力学，因为它与基板相互作用。我们分析我们的模型使用的分析和数值方法相结合，以确定协调爬行是可能的参数制度，并比较我们的结果与实验数据。我们的理论自然地提出了这些运动如何在发育中的生物体中产生以及它们如何在成年人中维持的机制，并且还提出了软系统中工程运动的稳健设计原则。
The locomotion of many soft-bodied animals is driven by the propagation of rhythmic waves of contraction and extension along the body. These waves are classically attributed to globally synchronized periodic patterns in the nervous system embodied in a central pattern generator (CPG). However, in many primitive organisms such as earthworms and insect larvae, the evidence for a CPG is weak, or even non-existent. We propose a neuromechanical model for rhythmically coordinated crawling that obviates the need for a CPG, by locally coupling the local neuro-muscular dynamics in the body to the mechanics of the body as it interacts frictionally with the substrate. We analyse our model using a combination of analytical and numerical methods to determine the parameter regimes where coordinated crawling is possible and compare our results with experimental data. Our theory naturally suggests mechanisms for how these movements might arise in developing organisms and how they are maintained in adults, and also suggests a robust design principle for engineered motility in soft systems.