Drosophila uses a tripod gait across all walking speeds, and the geometry of the tripod is important for speed control.
Drosophila uses a tripod gait across all walking speeds, and the geometry of the tripod is important for speed control.
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DOI：
10.7554/elife.65878
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发表时间：
2021-02-03
期刊：
影响因子：
7.7
通讯作者：
Bhandawat V
中科院分区：
文献类型：
--
作者：
Chun C;Biswas T;Bhandawat V
步行速度的变化表现为动物步态及其与地面相互作用机制的变化。在这里，我们研究果蝇行走时的这些变化。我们以高空间分辨率测量了苍蝇的质心运动及其足迹的位置。苍蝇主要采用改良的三脚架步态，仅随速度略有变化。三脚架步态的力学原理可以用一个简单的模型来近似——角径向弹簧加载倒立摆（ARSLIP）——其特征是有效腿的两个弹簧随着速度的增加而变得更硬。令人惊讶的是，弹簧刚度的变化是由三脚架形状的变化而不是各个腿的刚度变化引起的。三脚架形状对力学的影响也可以解释昆虫之间运动学的巨大变化，并且 ARSLIP 可以对这些变化进行建模。
Changes in walking speed are characterized by changes in both the animal’s gait and the mechanics of its interaction with the ground. Here we study these changes in walking Drosophila. We measured the fly’s center of mass movement with high spatial resolution and the position of its footprints. Flies predominantly employ a modified tripod gait that only changes marginally with speed. The mechanics of a tripod gait can be approximated with a simple model – angular and radial spring-loaded inverted pendulum (ARSLIP) – which is characterized by two springs of an effective leg that become stiffer as the speed increases. Surprisingly, the change in the stiffness of the spring is mediated by the change in tripod shape rather than a change in stiffness of individual legs. The effect of tripod shape on mechanics can also explain the large variation in kinematics among insects, and ARSLIP can model these variations.