Rosano Hugo, Webb Barbara
Edinburgh University, Edinburgh, UK.
Biol Cybern. 2007 Sep;97(3):229-46. doi: 10.1007/s00422-007-0170-4. Epub 2007 Jul 24.
Leg movements of stick insects (Carausius morosus) making turns towards visual targets are examined in detail, and a dynamic model of this behaviour is proposed. Initial results suggest that front legs shape most of the body trajectory, while the middle and hind legs just follow external forces (Rosano H, Webb B, in The control of turning in real and simulated stick insects, vol. 4095, pp 145-156, 2006). However, some limitations of this explanation and dissimilarities in the turning behaviour of the insect and the model were found. A second set of behavioural experiments was made by blocking front tarsi to further investigate the active role of the other legs for the control of turning. The results indicate that it is necessary to have different roles for each pair of legs to replicate insect behaviour. We demonstrate that the rear legs actively rotate the body while the middle legs move sideways tangentially to the hind inner leg. Furthermore, we show that on average the middle inner and hind outer leg contribute to turning while the middle outer leg and hind inner leg oppose body rotation. These behavioural results are incorporated into a 3D dynamic robot simulation. We show that the simulation can now replicate more precisely the turns made by the stick insect.
对朝着视觉目标转弯的竹节虫（墨胸竹节虫）的腿部运动进行了详细研究，并提出了这种行为的动态模型。初步结果表明，前腿塑造了大部分身体轨迹，而中腿和后腿只是跟随外力（罗萨诺·H、韦伯·B，《真实和模拟竹节虫的转弯控制》，第4095卷，第145 - 156页，2006年）。然而，发现了这种解释的一些局限性以及昆虫与模型在转弯行为上的差异。通过阻断前跗节进行了第二组行为实验，以进一步研究其他腿部在转弯控制中的积极作用。结果表明，每对腿需要有不同的作用才能复制昆虫的行为。我们证明后腿积极地旋转身体，而中腿则向内侧后腿方向横向移动。此外，我们表明平均而言，中腿内侧和后腿外侧有助于转弯，而中腿外侧和后腿内侧则阻碍身体旋转。这些行为结果被纳入一个三维动态机器人模拟中。我们表明，该模拟现在可以更精确地复制竹节虫的转弯。
