Climbing favours the tripod gait over alternative faster insect gaits.

Détails

Ressource 1Télécharger: ncomms14494.pdf (1183.98 [Ko])
Etat: Public
Version: Final published version
ID Serval
serval:BIB_7BBD872C047D
Type
Article: article d'un périodique ou d'un magazine.
Collection
Publications
Titre
Climbing favours the tripod gait over alternative faster insect gaits.
Périodique
Nature communications
Auteur(s)
Ramdya P., Thandiackal R., Cherney R., Asselborn T., Benton R., Ijspeert A.J., Floreano D.
ISSN
2041-1723 (Electronic)
ISSN-L
2041-1723
Statut éditorial
Publié
Date de publication
17/02/2017
Peer-reviewed
Oui
Volume
8
Pages
14494
Langue
anglais
Notes
Publication types: Journal Article ; Research Support, Non-U.S. Gov't
Publication Status: epublish
Résumé
To escape danger or catch prey, running vertebrates rely on dynamic gaits with minimal ground contact. By contrast, most insects use a tripod gait that maintains at least three legs on the ground at any given time. One prevailing hypothesis for this difference in fast locomotor strategies is that tripod locomotion allows insects to rapidly navigate three-dimensional terrain. To test this, we computationally discovered fast locomotor gaits for a model based on Drosophila melanogaster. Indeed, the tripod gait emerges to the exclusion of many other possible gaits when optimizing fast upward climbing with leg adhesion. By contrast, novel two-legged bipod gaits are fastest on flat terrain without adhesion in the model and in a hexapod robot. Intriguingly, when adhesive leg structures in real Drosophila are covered, animals exhibit atypical bipod-like leg coordination. We propose that the requirement to climb vertical terrain may drive the prevalence of the tripod gait over faster alternative gaits with minimal ground contact.
Mots-clé
Adhesiveness, Animals, Drosophila melanogaster/physiology, Extremities/physiology, Gait/physiology, Locomotion/physiology, Models, Animal, Robotics
Pubmed
Web of science
Open Access
Oui
Création de la notice
28/02/2017 20:32
Dernière modification de la notice
20/08/2019 15:37
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