大鼠在侧向冲击下的平衡调节行为  

Balancing strategy to lateral impact in a rat Rattus norregicus

作　　者：吉爱红[1] 类彦锋[1,2] 王周义[1,2] 董本正 姚宁[1,2] 戴振东[1] 

机构地区：[1]南京航空航天大学仿生结构与材料防护研究所,南京210016 [2]南京航空航天大学机电学院,南京210016

出　　处：《科学通报》2014年第13期1249-1257,共9页Chinese Science Bulletin

基　　金：国家自然科学基金(51375232);国家重点基础研究发展计划(2011CB302106);南京航空航天大学基本科研业务费专项科研项目(NS2013094)资助

摘　　要：在外界的干扰下,动物可以实时地调整运动模式,来平衡外界的扰动以保持运动的平稳性.本文以短腿直立动物大鼠(Rattus norregicus)为研究对象,用单摆分别冲击大鼠的胸外侧和腹外侧,由高速摄像机和三维运动反力测试系统同步记录大鼠受到冲击时的运动行为和受到的地面反力.研究大鼠受到侧向冲击的平衡调节策略.大鼠抗冲击的平衡调节策略与身体受冲击的部位有显著相关性.胸外侧受到冲击时,大鼠主要依靠类弹簧的身体迅速弯曲吸收能量.腹外侧受到冲击时,大鼠通过身体的侧摆和腿的外支撑,刚性地平衡侧向冲击力和力矩.通过身体的侧摆实现应急缓冲比身体弯曲的应急缓冲时间短,但是调整恢复到正常运动状态需要更多时间.研究动物在外界干扰下的身体平衡调节策略,可以为仿生机器人的鲁棒性设计提供参考.Animals can adjust movement pattern to balance the outside disturbance to keep stability. In this paper a rat Rattus norregicus was focused to study its balancing strategy to lateral impact. A pendulum was used to strike lateral thorax and lateral abdomen of the animal. Locomotion behavior was recorded by a high speed camera and ground reaction forces were measured by 3-dimensional forces sensors array synchronously during the whole progress of impact and adjustment. The result showed that the balancing strategy to lateral impact in a rat was closely related to the striked position of the body. The rat bent flexible body to absorb the impact energy when encountering the lateral thorax strike, and it resisted the impact force and torque through its side-sway and left leg supporting when encountering the lateral abdomen strike. Animal spent less time on side-sway than on body bending during imergency buffer, but it spent more time on side-sway than on body bending when reverting to original locomotion gait. Balancing strategy to lateral impact in a rat can be inspired to improve the robustness of bionic robot.

关 键 词：侧向冲击 平衡策略 大鼠 身体弯曲 侧向跨步 

分 类 号：S865.12[农业科学—野生动物驯养]