Righting and turning in mid-air using appendage inertia: reptile tails, analytical models and bio-inspired robots
Righting and turning in mid-air using appendage inertia: reptile tails, analytical models and bio-inspired robots
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DOI：
10.1088/1748-3182/5/4/045001
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发表时间：
2010-12-01
影响因子：
3.4
通讯作者：
Full, R. J.
中科院分区：
文献类型：
--
作者：
Jusufi, A.;Kawano, D. T.;Full, R. J.
与下落的猫不同，蜥蜴可以通过向一个方向摆动大尾巴，使身体向另一个方向旋转，使自己在半空中保持平衡。在这里，我们开发了一个新的三维分析模型，以调查的有效性尾巴作为惯性附件，改变身体的方向。我们锚定我们的模型使用的形态参数的平尾壁虎Hemidactylus platyurus。室内壁虎在空中翻正时的侧倾程度和在空中转弯时的偏航量与模型的结果相匹配。我们的模型预测，随着尾部相对于身体长度的增加，身体侧倾和转向会增加。从相对于机身接近正交的平面（即与垂直方向成0-30度）摆动的尾翼在产生机身滚转方面是最有效的，而以更陡的角度（即45-60度）操作的尾翼只产生一半的旋转。为了进一步测试我们的分析模型的预测，我们建立了一个生物启发的机器人原型。机器人加强了如何有效的姿态控制可以实现简单的运动的惯性附件。
Unlike the falling cat, lizards can right themselves in mid-air by a swing of their large tails in one direction causing the body to rotate in the other. Here, we developed a new three-dimensional analytical model to investigate the effectiveness of tails as inertial appendages that change body orientation. We anchored our model using the morphological parameters of the flat-tailed house gecko Hemidactylus platyurus. The degree of roll in air righting and the amount of yaw in mid-air turning directly measured in house geckos matched the model's results. Our model predicted an increase in body roll and turning as tails increase in length relative to the body. Tails that swung from a near orthogonal plane relative to the body (i.e. 0-30 degrees from vertical) were the most effective at generating body roll, whereas tails operating at steeper angles (i.e. 45-60 degrees) produced only half the rotation. To further test our analytical model's predictions, we built a bio-inspired robot prototype. The robot reinforced how effective attitude control can be attained with simple movements of an inertial appendage.