文献类型：期刊文献

中文题名：关于昆虫步态运动时神经控制机理的动力学分析

英文题名：AN EXPLORATION OF DYNAMIS ON NEURAL CONTROL MECHANISM OF INSECT LOCOMOTION

作者：张健鹏[1];王如彬[1];沈恩华[1];张志康[1]

机构：[1]华东理工大学信息科学与工程学院认知神经动力学研究所,上海200237

年份：2009

卷号：7

期号：1

起止页码：29

中文期刊名：动力学与控制学报

外文期刊名：Journal of Dynamics and Control

收录：CSTPCD;;Scopus

基金：国家自然科学基金资助项目(10672057;10872068)~~

语种：中文

中文关键词：运动认知;控制规则;LLS模型;爬行步态;几何力学;预反射

外文关键词：motion cognition, control algorithm, LLS model, locomotion, geometrical mechanics, preflex

摘要：在John Schmitt和Philip Holmes工作基础上建立一个考虑阻尼效应的昆虫LLS(lateral leg-spring)模型,并在MATLAB环境下对其步态运动进行计算机数值模拟,对昆虫在水平面爬行步态进行分析,发现考虑阻尼的模型更符合实际情况,并表现出更好的稳定性,证明了由力学和几何定理主导的控制行为在维持昆虫爬行的稳定性方面起到了十分重要的作用,从而减轻了神经系统的负担,同时也说明了引入阻尼在提高运动稳定性方面发挥的作用.
A horizontal LLS （ lateral leg - spring） locomotion model of insect with damps was developed based on the work of John Schmitt and Philip Holmes, and the simulation was conducted in the MATLAB environment. The analysis of the locomotion gait of the model suggests that the model concerning damps is closer to the reality, and higher level of stability is attained. Thus the potential importance of control algorithm dominated by geometry and mechanical principle, which to some extent reduced the burden of nervous system of insects, was proposed And the role the damps play in the stability was also discussed.