基于被动力学的昆虫运动动力学建模与分析

Modeling and Dynamic Analyses of Insect Locomotion Based on Passive Dynamics

在John Schmitt和Philip Holmes等人工作的基础上,基于被动力学建立了一个考虑阻尼效应的昆虫LLS (lateral leg-spring)爬行模型。通过在Matlab环境下对模型进行数值仿真,发现引入阻尼后的模型更加符合实际情况,并表现出较好的稳定性。证明在施加的控制作用十分有限的情况下,昆虫本身身体结构及其爬行姿态在维持运动的稳定性方面发挥着重要作用,事实上这样的控制策略具有重要的生物学意义,通过被动力学的机械反馈,生物体可以在有限的神经控制作用下保持稳定运动,从而在受到地面扰动时及时做出反馈,并提高能效性。同时,我们考虑了引入偏摆角扰动时系统的响应,发现相对于其他变量扰动,偏摆角可以有效地改变模型的前进方向,并具有较好的鲁棒性,提出了可能的方向控制策略。

A horizontal LLS （lateral leg-spring） locomotion model of insect concerning damp effect was built on the basic work of John Schmitt and Philip Holmes. Via the simulation conducted in Matlab environment, the result shows that the model with damp accords with reality, and exhibits a robust stability. In the case of limit control affection, the configuration and posture of the insects play an important role in achieving and maintaining a stable rapid running, which means an important sense of biology efficiency. In the case of limited neural control,a stable motion could be achieved primary by passive mechanical feedback. The response to the yaw disturbance was considered. Through the simulation though the induced variation of yaw is relatively small with respect to other configurations, it exerts effective influence on the direction control of the running model. A plausible running direction control strategy was proposed.