| 摘要(英) |
Millipedes are arthropods belonging to the class Diplopoda characterized by havingtwo pairs of jointed legs on most body segments. In our experiment, we use Asiomorpha coarctata which is a species of millipedes consists of 15 segments, 60legs, and the body length is about 2 cm as our experimental animal. We try to reveal locomotion of the millipede and how the millipede walks over the rough terrain. In our experiment, we set the one-dimensional road which last half is periodic height variation of the substrate. on the smooth part of substrate, the millipede walk regularly with 8 - 9 legs performing one cycle of metachronal wave, 5 - 6 legs on swing and 2 – 4 legs on stance, and the moving velocities are nearly constant in repeating experiment. Varying the high-low ratio of periodic height variation of substrate, we get the positive correlation between the ratio of moving velocities of rough to smooth part of substrate and the high-low ratio of the substrates. On the other hand, the number of the legs with ground contact decreases with the decreasing high-low ratio of the substrates. The stride frequency keeps a basic value and the stride length which varies larger is reduced by step off. The ratios of body-substrate gap are higher than the ratios of moving velocity. This implies that the millipede elongates the legs on the rough part of substrates. However, the millipede performs better than our model calculation. Through the calculation, we know that the fluctuations of instantaneous velocity are due to the relation between the gait and the rough part of the substrate. |
| 參考文獻 |
[1] M. H. Dickinson, C. T. Farley, R. J. Full, M. A. R. Koehl, R. Kram & S. Lehman. How animals move: an integrative view. Science 288, 100-106 (2000).
[2] P. Rosenbaum, A. Wosnitza, A. Büschges & M. Gruhn. Activity patterns and timing of muscle activity in the forward walking and backward walking stick insect Carausius morosus. J. Neurophysiol 104, 1681-1695 (2010).
[3] H. Cruse, T. Kindermann, M. Schumm, J. Dean & J. Schmitz. Walknet—a biologically inspired network to control six-legged walking. Neural Networks 11, 1435–1447 (1998).
[4] C. M. Biancardi, C. G. Fabrica, P. Polero, J. F. Loss & A. E. Minetti. Biomechanics of octopedal locomotion: inematic and kinetic analysis of the spider Grammostola mollicoma. J. Exp. Biol. 214, 3433-3442 (2011).
[5] V. Wahl, S. E. Pfeffer & M. Wittlinger. Walking and running in the desert ant Cataglyphis fortis. J. Comp. Physiol A 201, 645–656 (2015).
[6] U. Bassler & A. Buschges. Patter generation for stick insect walking movements—multisensory control of a locomotor program. Brain Research Rev. 27, 65-88 (1998).
[7] M.Raibert, K. Blankespoor, G. Nelson & R. Playter. BigDog, the rough-terrain quaduped robot. Proceedings of the 17th International Federation of Automation Control April 2008, 10822–10825 (2008).
[8] R. Altendorfer, N. Moore, H. Komsuoglu, M. Buehler, H.B. Brown Jr., D. McMordie, U. Saranli, R. Full, D.E. Koditschek. RHex: A Biologically Inspired Hexapod Runner. Autonomous Robots 11, 207–213, (2001).
[9] K. Jayarama & R. J. Full. Cockroaches traverse crevices, crawl rapidly in confined spaces, and inspire a soft, legged robot. Proceedings of the National Academy of Sciences 113, E950-E957, (2016).
[10] C. Ferrell. A comparison of three insect-inspired locomotion controllers. Robotics and Autonomous Systems 16,135-159 (1995).
[11] U. R¨uckert, S. Joaquin & W. Felix. Advances in autonomous mini robots. Springer, New York, (2012).
[12] M. V. Nicole & J. P. Rospars. How fast do living organisms move：Maximum speeds from bacteria to elephants and whales. Am. J. Phys. 83, 719 (2015). |
[Endnote RIS 格式]
[相關文章]
[文章引用]
[完整記錄]
[館藏目錄]
[檢視]
plurk
funp
live
udn
HD
myshare
netvibes
friend
youpush
delicious
baidu
Google bookmarks
del.icio.us
hemidemi
facebook
twitter
google
reddit