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自由行走的松鼠通过使用腿部力量和非压迫性脚扭矩来平衡,从而进行稳定的树枝上方着陆
Sebastian D Lee1, Stanley Wang2, Duyi Kuang3
1Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA 94720-1740, USA.
The Journal of experimental biology
|February 27, 2025
概括
松鼠使用前肢和手掌握来稳定在树枝上的动态着陆,管理大部分着陆能量. 他们调整腿部力和脚扭矩,以纠正低射或超射,使敏捷的穿越.
科学领域:
- 生物力学 生物力学
- 动物的运动 动物的运动.
- 机器人技术 机器人技术 机器人技术
背景情况:
- 树木动物需要稳定在树枝上的动态着陆,以跨越隙.
- 松鼠使用手掌抓地实现稳定的着陆,尽管缺乏抓取力.
研究的目的:
- 研究自由活动的狐松鼠 (Sciurus niger) 的着陆动态.
- 揭示松鼠用于稳定,树枝上方着陆的策略.
- 探索如何控制原则可以应用于机器人系统稳定着陆.
主要方法:
- 通过使用高速视频和形平面中的力-扭矩测量,量化了跨间隙距离的着陆动力学.
- 通过在物理跳跃机器人 (Salto) 中实现的可扩展的摆形模型来测试控制假设.
主要成果:
- 松鼠通过前肢来管理超过80%的着陆能量.
- 峰值腿部力和脚扭矩随着更大的间隙而增加.
- 松鼠调节腿部力和脚扭矩,以稳定目标下降,纠正低射或超射.
结论:
- 松鼠采用复杂的控制策略,包括腿部力量和脚扭矩调制,以稳定着陆.
- 在机器人腿部和脚部设计中体现这些控制原则,可以在具有挑战性的环境中实现稳定的着陆.
- 这项研究为理解动物敏捷性和开发先进的机器人运动系统提供了洞察力.
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