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科学通报  2011 

虎纹捕鸟蛛水平面运动行为

, PP. 1657-1666

Keywords: 运动行为,虎纹捕鸟蛛,仿生机器人,关节转动角度,高速摄像

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Abstract:

动物运动行为的研究对运动学的分析以及仿生机器人的研制有着重要意义.运用动物运动行为观测系统获取了虎纹捕鸟蛛(Ornithoctonushuwena)水平面直线运动的运动学信息,如步足的运动状态、质心的运动和步足各关节转动角度的变化等信息.结果表明虎纹捕鸟蛛以一侧的步足1和3与对侧的步足2和4为一组运动相,两组运动相在运动中相互交替运动相位.运动速度的提高主要依靠于步频的提高来实现,并且运动稳定性优于昆虫.质心的速度和高度周期波动,步足相位交替时质心的高度和速度均较高,稳定运动状态下质心的高度和速度均较低.步足4偏向角的变化最小,有利于对身体的驱动;由于步足1的探寻功能使得运动中其各关节转动角度的变化不定.上述结果对仿生机器人的设计和步态规划有所启示.

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