最优爬行：从机械驱动到化学驱动
Optimal crawling: from mechanical to chemical actuation
AI总结：
该研究提出结合机械与化学驱动的爬行自推进物理模型，揭示两种驱动的竞合对爬行性能的影响，为仿生爬行机器人最优设计提供新范式。
摘要：
受生物细胞在基底上爬行运动的启发，我们提出了一种自推进物理模型，其时空驱动可同时包含主动力偶实现的机械驱动，以及通过受控物质周转实现的化学驱动。我们发现，这两种主动驱动模式之间的竞争与协作可极大拓宽爬行器的性能范围。当物质周转较慢且机械驱动占主导时，我们发现在给定能量成本下，当驱动以行波形式传播的主动力构型存在时，可达到最高速度。随着物质周转速率增加，化学驱动开始超过机械驱动，这种蠕动型控制的效果逐渐下降，转而让位于一种涉及机械与化学驱动相互作用的驻波型驱动。我们的分析为爬行仿生机器人的最优设计提出了一种新范式：传统的通过分布式力致动器实现的纯机械驱动，可由力传递机构内部材料重塑的分布式化学控制加以补充。
英文摘要：
Taking inspiration from the crawling motion of biological cells on a substrate, we consider a physical model of self-propulsion where the spatio-temporal driving can involve both, a mechanical actuation by active force couples, and a chemical actuation through controlled mass turnover. We show that the competition and cooperation between these two modalities of active driving can drastically broaden the performance repertoire of the crawler. When the material turnover is slow and the mechanical driving dominates, we find that the highest velocity at a given energetic cost is reached when actuation takes the form of an active force configuration propagating as a traveling wave. As the rate of material turnover increases, and the chemical driving starts to dominate the mechanical one, such a peristalsis-type control progressively loses its efficacy, yielding to a standing wave type driving which involves an interplay between the mechanical and chemical actuation. Our analysis suggests a new paradigm for the optimal design of crawling biomimetic robots where the conventional purely mechanical driving through distributed force actuators is complemented by a distributed chemical control of the material remodeling inside the force-transmitting machinery.
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