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首页> 外文期刊>The Journal of Experimental Biology >THREE-DIMENSIONAL KINEMATICS AND LIMB KINETIC ENERGY OF RUNNING COCKROACHES
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THREE-DIMENSIONAL KINEMATICS AND LIMB KINETIC ENERGY OF RUNNING COCKROACHES

机译：连续蟑螂的三维运动学和肢体运动能

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We tested the hypothesis that fast-running hexapeds must generate high levels of kinetic energy to cycle their limbs rapidly compared with bipeds and quadrupeds. We used high-speed video analysis to determine the three-dimensional movements of the limbs and bodies of cockroaches (Blaberus discoidalis) running on a motorized treadmill at 21 cm s(-1) using an alternating tripod gait, We combined these kinematic data with morphological data to calculate the mechanical energy produced to move the limbs relative to the overall center of mass and the mechanical energy generated to rotate the body (head + thorax + abdomen) about the overall center of mass. The kinetic energy involved in moving the limbs was 8 mu J stride(-1) (a power output of 21 mW kg(-1)), which was only approximately 13% of the external mechanical energy generated to lift and accelerate the overall center of mass at this speed, Pitch, Saw and roll rotational movements of the body were modest (less than +/-7 degrees), and the mechanical energy required for these rotations was surprisingly small (1.7 mu J stride(-1) for pitch, 0.5 mu J stride(-1) for yaw and 0.4 mu J stride(-1) for roll) as was the power (4.2, 1.2 and 1.1 mW kg(-1), respectively). Compared at the same absolute forward speed, the mass-specific kinetic energy generated by the trotting hexaped to swing its limbs was approximately half of that predicted from data on much larger two- and four-legged animals, Compared at an equivalent speed (mid-trotting speed), limb kinetic energy was a smaller fraction of total mechanical energy for cockroaches than for large bipedal runners and hoppers and for quadrupedal trotters, Cockroaches operate at relatively high stride frequencies, but distribute ground reaction forces over a greater number of relatively small legs, The relatively small leg mass and inertia of hexapeds may allow relatively high leg cycling frequencies without exceptionally high internal mechanical energy generation. [References: 38]
机译：我们检验了以下假设：与两足动物和四足动物相比，快速奔跑的六足动物必须产生高水平的动能才能快速使四肢循环。我们使用高速视频分析来确定在21 cm s（-1）的电动跑步机上运行的蟑螂（Blaberus discoidalis）的四肢和肢体的三维运动，使用交替的三脚架步态，将这些运动学数据与形态数据，以计算使肢体相对于整体重心移动所产生的机械能，以及使身体（头部+胸部+腹部）围绕整体重心旋转的机械能。移动肢体所涉及的动能为8 mu J stride（-1）（功率输出为21 mW kg（-1）），仅占提升和加速整个中心所产生的外部机械能的13％在此速度下，车身的俯仰，锯齿和横滚旋转运动适中（小于+/- 7度），并且这些旋转所需的机械能非常小（俯仰为1.7μJ stride（-1） ，偏航为0.5μJ跨度（-1），滚转为0.4μJ跨度（-1），功率也分别为（4.2、1.2和1.1 mW kg（-1））。在相同的绝对前进速度下进行比较，小跑通过六足运动使其四肢摆动产生的质量比动能约为在较大的两足动物和四足动物身上的数据所预测的动能的一半。小跑速度），蟑螂的肢体动能是总机械能的一部分，比大型两足动物和漏斗和四足小跑的小，蟑螂的步幅较高，但地面反作用力分布在较大的较小腿上，六足动物的相对较小的腿质量和惯性可以允许相对较高的腿循环频率，而不会产生异常高的内部机械能。 [参考：38]

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