Efficient bending and lifting patterns in snake locomotion
Efficient bending and lifting patterns in snake locomotion
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DOI：
10.1098/rspa.2022.0312
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发表时间：
2022-05
期刊：
影响因子：
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通讯作者：
S. Alben
中科院分区：
文献类型：
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作者：
S. Alben
我们优化三维蛇的运动效率。我们假设一个一般的空间曲线表示的蛇的脊椎与小到中度解除离地面和可忽略不计的身体惯性。运动的成本包括摩擦功和内部粘性耗散。当限制到平面运动学，我们的人口为基础的优化方法发现相同类型的最优作为以前的牛顿为基础的方法。举升时，有几种最佳运动占主导地位。我们有一个s形的身体，中间和两端在小到中等的横向摩擦下交替提升。当横向摩擦力较大时，在粘性耗散较小的情况下，卷曲和滑动运动是典型的，而在粘性耗散较大的情况下，卷曲和滑动运动被大幅弯曲所取代。小粘性耗散，我们发现局部最优解，类似于侧绕运动摩擦系数空间。他们总是次优交替升降运动，平均输入功率高10-100%。
We optimize three-dimensional snake kinematics for locomotor efficiency. We assume a general space-curve representation of the snake backbone with small-to-moderate lifting off the ground and negligible body inertia. The cost of locomotion includes work against friction and internal viscous dissipation. When restricted to planar kinematics, our population-based optimization method finds the same types of optima as a previous Newton-based method. With lifting, a few types of optimal motions prevail. We have an s-shaped body with alternating lifting of the middle and ends at small-to-moderate transverse friction. With large transverse friction, curling and sliding motions are typical at small viscous dissipation, replaced by large-amplitude bending at large viscous dissipation. With small viscous dissipation, we find local optima that resemble sidewinding motions across friction coefficient space. They are always suboptimal to alternating lifting motions, with average input power 10–100% higher.