Comparative experimental and theoretical approaches on multi-legged locomotion – Using fast running insect, arachnid, isopod and centipede species for examining leg coordination and body dynamics with increasing numbers of propulsive legs and running spee

机器人应用在我们的日常生活中越来越普遍，很快将包括先进的自走式辅助技术。由于人类环境充满了各种各样的障碍物，并且腿式系统在不平坦的地形上表现出色，因此这些设备中的许多设备除了轮子之外，还依赖于某种腿式推进装置。多腿运动装置本质上提供了高度的静态稳定性。因此，现在是更好地理解多足运动的时候了。节肢动物是这种多足结构的自然模型和主要例子。然而，在快速移动的多足动物不同的腿数对身体动力学的影响仍然是探索不足。因此，本申请的目的是在实验和理论研究的陆生运动在不同的节肢动物物种，涵盖了一系列的腿数在过渡区从几个到很多。关于这些生物的运动生物力学、最高性能和控制的知识也将促进我们对迁移过程和生态系统动态的理解。到目前为止，现有的数据只涵盖了少数几个物种。然而，这些示例物种根本不代表节肢动物中可用的全部运动器官。同样，许多节肢动物运动的数学模型忽略了推进腿的真实的数量，只关注水平运动的动力学。最近，我发现昆虫和蛛形纲动物在从中速到高速奔跑时会改变腿的协调性。这些变化会影响身体动力学、能量学和跑步稳定性。此外，在一项建模研究中，我能够揭示随着推进腿数量的增加，轻微的协调变化对身体动力学和能量学的影响越来越大。由于这种小的协调变化被忽视了，到目前为止，自然发生的步态变化很可能被忽视了大量的节肢动物物种。因此，本建议的目的是从生物模型中获得知识，通过检查稳定的运动，包括峰值性能，在一系列昆虫，蜘蛛，等足类动物和蜈蚣物种。实验物种都是大小相似的，具有外骨骼的变温动物，这减少了这些特征对结果的影响。当以速度奔跑时，该物种使用2，3，4，7和14对腿。他们的运动将通过高速运动学，半自动跟踪技术和以前开发的分析技术进行检查。通过将预期实验的结果与已建立模型的预测结果进行比较，将有可能检验这些模型的关键预测。此外，最近开发的模型概念将通过实施额外的参数，如噪音和不规则的地面反作用力，这将有助于评估这些参数对多足运动的影响。

Robotic applications are becoming increasingly prevalent in our everyday life, and will soon include advanced self-propelled assistive technology. Since human environments are full of a wide range of obstacles, and legged systems excel on uneven terrain, many of these devices will, in addition to wheels, also rely on some sort of legged propulsive apparatus. Multilegged locomotor apparatuses intrinsically provide a high degree of static stability. Accordingly, it is high time for a better understanding of multilegged locomotion. Arthropods are natural models and prime examples for such polypedal structures. However, the impact of different leg numbers on body dynamics in fast moving polypedal animals is still underexplored. Consequently, this application aims at experimental and theoretical examinations of terrestrial locomotion in different arthropod species covering a range of leg numbers in the transition zone from few to many. Knowledge gained on these organisms’ locomotion biomechanics, peak performance and control will also advance our understanding on migratory processes and ecosystem dynamics. So far, available data covers only a handful of species. These example species, however, do not at all represent the entire wealth of locomotor apparatuses available in arthropods. Likewise, many mathematical models on arthropod locomotion disregard the real number of propulsive legs and focus exclusively on horizontal running dynamics. Recently, I have shown that insects and arachnids shift leg coordination when changing from intermediate to high running speeds. These changes impact body dynamics, energetics and running stability. Moreover, in a modelling study I was able to reveal the increasing impact of slight coordinative changes on body dynamics and energetics as the number of propulsive legs increases. Since such small coordinative changes have been neglected so far, naturally occurring gait changes are likely to have been overlooked in a large number of arthropod species. Consequently, the present proposal aims at gaining knowledge from biological models by examining steady locomotion, including peak performance, in a range of insect, arachnid, isopod and centipede species. The experimental species are all similarly sized, poikilotherms with exoskeletons, which reduces the impact of these features on the results. When running at speed, the species use 2, 3, 4, 7 and 14 pairs of legs. Their movements will be examined via high speed kinematics, semi-automated tracking techniques and previously developed analytical technology. By comparing the results of the intended experiments to the predicted outcomes of established models, it will be possible to test crucial predictions of those models. Furthermore, recently developed model concepts will be enhanced by implementing additional parameters such as noise and irregular ground reaction forces, which will enable the assessment of these parameters’ impact on multilegged locomotion.