Institute of Bio-Inspired Structure and Surface Engineering, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing, 210016, China.
College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China.
J Comp Physiol A Neuroethol Sens Neural Behav Physiol. 2018 Aug;204(8):707-719. doi: 10.1007/s00359-018-1275-z. Epub 2018 Jul 4.
Sprawling posture vertebrates have a flexible spine that bends the trunk primarily in the horizontal plane during locomotion. By coordinating cyclical lateral trunk flexion and limb movements, these animals are very mobile and show extraordinary maneuverability. The dynamic and static stability displayed in complex and changing environments are highly correlated with such lateral bending patterns. The axial dynamics of their compliant body can also be critical for achieving energy-efficient locomotion at high velocities. In this paper, lateral undulation is used to characterize the bending pattern. The production of ground reaction forces (GRFs) and the related center of mass (COM) dynamics during locomotion are the fundamental mechanisms to be considered. Mainly based on research on geckos, which show unrestricted movement in three-dimensional space, we review current knowledge on the trunk flexibility and waveforms of lateral trunk movement. We investigate locomotion dynamics and mechanisms underlying the lateral undulation pattern. This paper also provides insights into the roles of this pattern in obtaining flexible and efficient walking, running, and climbing. Finally, we discuss the potential application of lateral undulation patterns to bio-inspired robotics.
匍匐姿势的脊椎动物的脊柱灵活，在运动过程中主要在水平面上弯曲躯干。通过协调周期性的横向躯干弯曲和肢体运动，这些动物具有很强的移动性和非凡的机动性。在复杂多变的环境中表现出的动态和静态稳定性与这种横向弯曲模式高度相关。其柔顺身体的轴向动力学对于在高速下实现节能运动也至关重要。在本文中，横向波动用于描述弯曲模式。在运动过程中产生的地面反作用力（GRF）和相关的质心（COM）动力学是需要考虑的基本机制。主要基于对在三维空间中表现出无限制运动的壁虎的研究，我们回顾了关于躯干灵活性和横向躯干运动波形的现有知识。我们研究了横向波动模式下的运动动力学和机制。本文还探讨了这种模式在获得灵活高效的行走、奔跑和攀爬中的作用。最后，我们讨论了横向波动模式在仿生机器人中的潜在应用。
