Mechanics and optimization of undulatory locomotion in different environments, tuning geometry, stiffness, damping and frictional anisotropy
Mechanics and optimization of undulatory locomotion in different environments, tuning geometry, stiffness, damping and frictional anisotropy
复制标题
不同环境下波动运动的力学和优化，调整几何形状、刚度、阻尼和摩擦各向异性
DOI：
10.1098/rsif.2022.0875
复制
发表时间：
2023
影响因子：
3.9
通讯作者：
N. Pugno
中科院分区：
文献类型：
--
作者：
Basit Yaqoob;A. Rodella;E. Del Dottore;A. Mondini;B. Mazzolai;N. Pugno
在无肢动物中已知的最古老但最常见的运动方式之一是波动运动，与腿运动相比，波动运动也因其稳定性而被认可。多种形式的主动机构（例如主动步态控制）和被动机构（例如身体形态和材料特性）已经适应不同的环境。目前的研究探讨了车身刚度和内部损失在满足地形要求方面的被动作用。此外，它解决了环境对步态的影响，以及各种环境和身体属性之间的相互作用如何导致不同的速度。我们模拟了干摩擦环境中的波动运动，摩擦各向异性决定推进。我们发现，身体的刚度，转动惯量，干摩擦系数之间的比值正常和切向摩擦常数，和内部阻尼的身体发挥了至关重要的作用，在优化速度和动物适应外部条件。此外，我们证明了各种已知的步态，如游泳，爬行和多毛类运动的身体和环境参数之间的相互作用的结果。此外，我们验证了模型检索玉米蛇的速度使用的数据从文献中。这项研究表明，形态，身体材料特性和环境之间的依赖关系可以利用设计长分段机器人在专门的情况下执行。
One of the oldest yet most common modalities of locomotion known among limbless animals is undulatory, also recognized for its stability compared to legged locomotion. Multiple forms of active mechanisms, e.g. active gait control, and passive mechanisms, e.g. body morphology and material properties, have adapted to different environments. The current research explores the passive role of body stiffness and internal losses in meeting terrain requirements. Furthermore, it addresses the influence of the environment on the resultant gait and how the interplay between various environments and body properties can lead to different speeds. We modelled undulatory locomotion in a dry friction environment where frictional anisotropy determines propulsion. We found that the body stiffness, the moment of inertia, the dry frictional coefficient ratio between normal and tangential frictional constants, and the internal damping of the body play an essential role in optimizing speed and animal adaptability to external conditions. Furthermore, we demonstrate that various known gaits like swimming, crawling and polychaete-like locomotion are achieved as a result of the interaction between body and environment parameters. Moreover, we validated the model by retrieving a corn snake's speed using data from the literature. This study demonstrates that the dependence between morphology, body material properties and environment can be exploited to design long-segmented robots to perform in specialized situations.
机械衍射揭示了被动动力学在蛇滑行中的作用
DOI：
10.1073/pnas.1808675116
发表时间：
2019
期刊：
Proceedings of the National Academy of Sciences
影响因子：
--
作者：
Schiebel, Perrin E.;Rieser, Jennifer M.;Hubbard, Alex M.;Chen, Lillian;Rocklin, D. Zeb;Goldman, Daniel I.
通讯作者：
Goldman, Daniel I.
影响因子：
5.2
作者：
Branyan, Callie;Hatton, Ross L.;Menguc, Yigit
通讯作者：
Menguc, Yigit
运动过程中肌肉功能的动力学：适应变化的条件。
DOI：
10.1242/jeb.202.23.3387
发表时间：
1999
期刊：
The Journal of experimental biology
影响因子：
--
作者：
Biewener,AA;Gillis,GB
通讯作者：
Gillis,GB