论文标题
使用垂直身体弯曲的蛇模拟，以横穿高度变化的地形
Simulation of snakes using vertical body bending to traverse terrain with large height variation
论文作者
论文摘要
蛇通过弯曲其细长的身体在各个地形上移动。最近的研究发现，蛇可以利用垂直弯曲来遍历高度变化的较大地形，例如水平定向的圆柱体，楔子（Jurestovsky，Usher，Astley，2021，J。Exp。Biol。）和Unven Terrain（Fu＆Li，2020年，Roy。Soc。Soc。Soc。openSci。Fui。在这里，为了了解垂直弯曲如何产生推进，我们开发了横穿楔形的蛇的动态模拟（高度= 0.05体长，斜坡= 27度）和半圆柱障碍物（高度= 0.1身体长度）。通过向身体传播具有最大障碍物周围最大的内部扭矩轮廓，模拟的蛇如动物中观察到的那样向前移动。值得注意的是，即使摩擦阻力较低（蛇 - 深头动力学系数为0.20），人体也必须以5倍体重从体重产生足够的前进推进的压力向前移动以向前移动。这表明蛇能够垂直弯曲以朝着环境弯曲以产生推进。对不同控制器进行测试表明，接触力反馈进一步有助于在未知的地形扰动下有效地产生和维持推进。
Snake moves across various terrains by bending its elongated body. Recent studies discovered that snakes can use vertical bending to traverse terrain of large height variation, such as horizontally oriented cylinders, a wedge (Jurestovsky, Usher, Astley, 2021, J. Exp. Biol.), and uneven terrain (Fu & Li, 2020, Roy. Soc. Open Sci.; Fu, Astley, Li, 2022 Bioinspiration & Biomimetics). Here, to understand how vertical bending generates propulsion, we developed a dynamic simulation of a snake traversing a wedge (height = 0.05 body length, slope = 27 degrees) and a half cylindrical obstacle (height = 0.1 body length). By propagating down the body an internal torque profile with a maximum around the obstacle, the simulated snake moved forward as observed in the animal. Remarkably, even when frictional drag is low (snake-terrain kinetic friction coefficient of 0.20), the body must push against the wedge with a pressure 5 times that from body weight to generate sufficient forward propulsion to move forward. This indicated that snakes are highly capable of bending vertically to push against the environment to generate propulsion. Testing different controllers revealed that contact force feedback further helps generate and maintain propulsion effectively under unknown terrain perturbations.
