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Template for robust soft-body crawling with reflex-triggered gripping

机译：通过反射触发抓握实现稳健的软体爬行的模板

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摘要

Caterpillars show a remarkable ability to get around in complex environments (e.g. tree branches). Part of this is attributable to crochets which allow the animal to firmly attach to a wide range of substrates. This introduces an additional challenge to locomotion, however, as the caterpillar needs a way to coordinate the release of the crochets and the activation of muscles to adjust body posture. Typical control models have focused on global coordination through a central pattern generator (CPG). This paper develops an alternative to the CPG, which accomplishes the same task and is robust to a wide range of body properties and control parameter variation. A one-dimensional model is proposed which consists of lumped masses connected by a network of springs, dampers and muscles. Computer simulations of the controller/model system are performed to verify its robustness and to permit comparison between the generated gaits and those observed in real caterpillars (specifically Manduca sexta.).
机译：毛毛虫在复杂的环境（例如树枝）中具有出色的出行能力。这部分归因于钩针，这些钩针使动物牢固地附着在各种各样的基质上。然而，这给运动带来了另外的挑战，因为毛毛虫需要一种协调钩针释放和激活肌肉以调节身体姿势的方法。典型的控制模型集中于通过中央模式生成器（CPG）进行全局协调。本文开发了一种替代CPG的产品，它可以完成相同的任务，并且对广泛的身体特性和控制参数变化具有鲁棒性。提出了一个一维模型，该模型由通过弹簧，阻尼器和肌肉网络连接的集总质量组成。进行控制器/模型系统的计算机仿真，以验证其鲁棒性，并允许比较所生成的步态与在实际毛毛虫（特别是曼杜卡六分之一）中观察到的步态。

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