协调细小的四肢和长身体：不同波动蜥蜴运动的几何力学
Coordinating tiny limbs and long bodies: geometric mechanics of diverse undulatory lizard locomotion
摘要：
虽然蜥蜴通常拥有四肢和短小的身体，但它们已经进化出了各种各样的身体结构，从短小的身体和完整的四肢到细长的几乎没有四肢。这种身体形态的多样性被假设为对运动杂乱的陆地环境的适应，但是推进的模式--例如，使用身体和/或肢体与基底相互作用以及潜在的身体/肢体协调仍然没有研究。在这里，我们使用生物实验，运动的几何理论，和robophysical实验比较和系统地研究这样的动态在不同的样本蜥蜴形态。运动场的研究短肢，细长的蜥蜴（Brachymeles）和实验室研究的全肢蜥蜴（乌玛scoparia和Sceloporus olivaceus）和无肢横向起伏的有机体（Chionactis occipitalis）揭示，体波动力学可以描述为行波和驻波的组合，这些组件的振幅的比例是成反比的肢体长度。我们使用几何理论来分析和解释的波动动力学和身体-腿协调的观察;该理论预测，腿推力调节体重分布和自推进的产生机制，这反过来又有利于体波的选择。我们测试我们的假设在生物实验中诱导使用行波在刻板的蜥蜴通过调制地面穿透阻力，以及在受控的非生物实验，涉及起伏的肢体robophysical模型。我们的模型可能是有价值的，在了解功能的限制在蜥蜴的伸长和肢体减少的进化过程中，以及推进机器人设计。
英文摘要：
Although typically possessing four limbs and short bodies, lizards have evolved a diversity of body plans, from short-bodied and fully-limbed to elongate and nearly limbless. Such diversity in body morphology is hypothesized as adaptations to locomotion cluttered terrestrial environments, but the mode of propulsion -- e.g., the use of body and/or limbs to interact with the substrate -- and potential body/limb coordination remain unstudied. Here, we use biological experiments, a geometric theory of locomotion, and robophysical experiments to comparatively and systematically investigate such dynamics in a diverse sample of lizard morphologies. Locomotor field studies in short-limb, elongated lizards (Brachymeles) and laboratory studies of full-limbed lizards (Uma scoparia and Sceloporus olivaceus) and a limbless laterally undulating organism (Chionactis occipitalis) reveal that the body wave dynamics can be described by a combination of traveling and standing waves; the ratio of the amplitudes of these components is inversely related to limb length. We use geometric theory to analyze and explain the wave dynamics and body-leg coordination observations; the theory predicts that leg thrust modulates the body weight distribution and self-propulsion generation mechanism, which in turn facilitates the choice of body waves. We test our hypothesis in biological experiments by inducing the use of traveling wave in stereotyped lizards by modulating the ground penetration resistance, as well as in controlled non-biological experiments involving an undulating limbed robophysical model. Our models could be valuable in understanding functional constraints on the evolutionary process of elongation and limb reduction in lizards, as well as advancing robot designs.
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