Movement behavior of a spider on a horizontal surface  

作　　者：WANG ZhouYi WANG JinTong JI AiHong LI HongKai DAI ZhenDong 

机构地区：[1]Institute of Bio-inspired Structure and Surface Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China [2]College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

出　　处：《Chinese Science Bulletin》2011年第25期2748-2757,共10页

基　　金：supported by Funding for Outstanding Doctoral Dissertation in Nanjing University of Aeronautics and Astronautics (BCXJ10-10);the National Hi-Tech Research and Development Program of China (2007AA04Z201);the National Natural Science Foundation of China (60910007,31070344 and 50975140)

摘　　要：Studying the locomotive behavior of animals has the potential to inspire the design of the mechanism and gait patterns of robots ("bio-inspired robots"). The kinematics characteristics of a spider (Ornithoctonus huwena), including movement of the legs, movement of the center of mass (COM) and joint-rotation angle, were obtained from the observation of locomotion behaviors recorded by a three-dimensional locomotion observation system. Our results showed that one set of the stance phase consists of four legs, which were leg-1 and leg-3 on one side and leg-2 and leg-4 on the other side. Additionally, two sets of the stance phase comprised eight legs alternately supporting and driving the motion of the spider's body. The spider primarily increased its movement velocity by increasing stride frequency. In comparison to other insects, the spider, O. huwena, has superior movement stability. The velocity and height of COM periodically fluctuated during movement, reaching a maximum during alternation of leg phase, and falling to a minimum in the steady stance phase. The small change in deflection angle of the hind-leg was effective in driving locomotion, whereas each joint-rotation angle of the fore-leg changed irregularly during locomotion. This research will help in the design of bio-inspired robots, including the selection of gait planning and its control.Studying the locomotive behavior of animals has the potential to inspire the design of the mechanism and gait patterns of robots （＂bio-inspired robots＂）. The kinematics characteristics of a spider （Ornithoctonus huwena）, including movement of the legs, movement of the center of mass （COM） and joint-rotation angle, were obtained from the observation of locomotion behaviors recorded by a three-dimensional locomotion observation system. Our results showed that one set of the stance phase consists of four legs, which were leg-1 and leg-3 on one side and leg-2 and leg-4 on the other side. Additionally, two sets of the stance phase comprised eight legs alternately supporting and driving the motion of the spider＇ s body. The spider primarily increased its movement velocity by increasing stride frequency. In comparison to other insects, the spider, O. huwena, has superior movement stability. The velocity and height of COM periodically fluctuated during movement, reaching a maximum during alternation of leg phase, and falling to a minimum in the steady stance phase. The small change in deflection angle of the hind-leg was effective in driving locomotion, whereas each joint-rotation angle of the fore-leg changed irregularly during locomotion. This research will help in the design of bio-inspired robots, including the selection of gait planning and its control.

关 键 词：运动行为 蜘蛛 仿生机器人 虎纹捕鸟蛛 运动稳定性 表面 旋转角度 运动速度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] Q959.226[自动化与计算机技术—控制科学与工程]