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首页> 外文期刊>The Journal of Experimental Biology >A point-mass model of gibbon locomotion
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A point-mass model of gibbon locomotion

机译：长臂猿运动的点质量模型

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In brachiation, an animal uses alternating bimanual support to move beneath an overhead support. Past brachiation models have been based on the oscillations of a simple pendulum over half of a full cycle of oscillation. These models have been unsatisfying because the natural behavior of gibbons and siamangs appears to be far less restricted than so predicted. Cursorial mammals use an inverted pendulum-like energy exchange in walking, but switch to a spring-based energy exchange in running as velocity increases. Brachiating apes do not possess theanatomical springs characteristic of the limbs of terrestrial runners and do not appear to be using a spring-based gait. How do these animals move so easily within the branches of the forest canopy? Are there fundamental mechanical factors responsible for the transition from a continuouscontact gait where at least one hand is on a hand hold at a time, to a ricochetal gait where the animal vaults between hand holds? We present a simple model of ricochetal locomotion based on a combination of parabolic free flight and simple circular pendulum motion of a single point mass on a massless arm. In this simple brachiation model, energy losses due to inelastic collisions of the animal with the support are avoided, either because the collisions occur at zero velocity (continuous-contact brachiation) or by a smooth matching of the circular and parabolic trajectories at the point of contact (ricochetal brachiation). This model predicts that brachiation is possible over a largo range of speeds, handhold spacings and gait frequencies with (theoretically) no mechanical energy cost. We then add the further assumption that a brachiator minimizes either itstotal energy or, equivalently, its peak arm tension, or a peak tension-related measure of muscle contraction metabolic cost. However, near the optimum the model is still rather unrestrictive. We present some comporisons with gibbon brachiation showing that the simple dynamic model presented has predictive value. However, natural gibbon motion is even smoother than the smoothest motions predicted by this primitive model.
机译：在肱中，动物使用交替的双手支撑在头顶支撑下移动。过去的分叉模型是基于整个摆动周期的一半以上的简单摆的摆动。这些模型之所以令人不满意，是因为长臂猿和暹罗猫的自然行为似乎比预期的受限制要少得多。 Cursorial哺乳动物在行走过程中使用类似倒立摆的能量交换，但在跑步中随着速度的增加而切换到基于弹簧的能量交换。肱猿不具有陆生跑步者四肢的解剖学特征，并且似乎没有使用基于弹簧的步态。这些动物如何在林冠层的分支中如此轻松地移动？是否存在基本的机械因素导致从一次至少一次握住一只手的连续接触步态过渡到一只手之间握住动物穹顶的跳步态？我们基于抛物线自由飞行和无质量手臂上单点质量的简单圆摆运动的组合，提出了一个简单的跳动运动模型。在这种简单的分叉模型中，避免了由于动物与支撑物发生非弹性碰撞而导致的能量损失，这是因为碰撞以零速度发生（连续接触分叉），或者是由于圆点和抛物线轨迹在点处的平滑匹配而引起的。接触（ric行肱骨分支）。该模型预测，在理论上没有机械能成本的情况下，在一定的速度，手掌间距和步态频率的较大范围内都可以进行肱骨形成。然后，我们再加上一个假设，即肱肌将其总能量或等效地减小其手臂的峰值拉力或与峰值拉力有关的肌肉收缩代谢成本的度量最小化。但是，接近最佳状态时，模型仍然没有限制。我们提出了与长臂猿肱的一些比较，表明所提出的简单动态模型具有预测价值。但是，自然长臂猿运动甚至比该原始模型预测的最平滑运动还要平滑。

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