干旱区生态环境知识资源中心(Arid): Side-impact collision: mechanics of obstacle negotiation in sidewinding snakes

Arid

DOI	10.1088/1748-3190/abb415
	Side-impact collision: mechanics of obstacle negotiation in sidewinding snakes
	Astley, Henry C.; Rieser, Jennifer M.; Kaba, Abdul; Paez, Veronica M.; Tomkinson, Ian; Mendelson, Joseph R., III; Goldman, Daniel, I
通讯作者	Astley, HC
来源期刊	BIOINSPIRATION & BIOMIMETICS
ISSN	1748-3182
EISSN	1748-3190
出版年	2020
卷号	15 期号:6
英文摘要	Snakes excel at moving through cluttered environments, and heterogeneities can be used as propulsive contacts for snakes performing lateral undulation. However, sidewinding, which is often associated with sandy deserts, cuts a broad path through its environment that may increase its vulnerability to obstacles. Our prior work demonstrated that sidewinding can be represented as a pair of orthogonal body waves (vertical and horizontal) that can be independently modulated to achieve high maneuverability and incline ascent, suggesting that sidewinders may also use template modulations to negotiate obstacles. To test this hypothesis, we recorded overhead video of four sidewinder rattlesnakes (Crotalus cerastes) crossing a line of vertical pegs placed in the substrate. Snakes used three methods to traverse the obstacles: a Propagate Through behavior in which the lifted moving portion of the snake was deformed around the peg and dragged through as the snake continued sidewinding (115/160 runs), Reversal turns that reorient the snake entirely (35/160), or switching to Concertina locomotion (10/160). The Propagate Through response was only used if the anterior-most region of static contact would propagate along a path anterior to the peg, or if a new region of static contact could be formed near the head to satisfy this condition; otherwise, snakes could only use Reversal turns or switch to Concertina locomotion. Reversal turns allowed the snake to re-orient and either escape without further peg contact or re-orient into a posture amenable to using the Propagate Through response. We developed an algorithm to reproduce the Propagate Through behavior in a robophysical model using a modulation of the two-wave template. This range of behavioral strategies provides sidewinders with a versatile range of options for effectively negotiating obstacles in their natural habitat, as well as provide insights into the design and control of robotic systems dealing with heterogeneous habitats.
英文关键词	sidewinding obstacle robot template
类型	Article
语种	英语
开放获取类型	Green Submitted
收录类别	SCI-E
WOS记录号	WOS:000584896200001
WOS关键词	CROTALUS-CERASTES ; LOCOMOTION ; PERFORMANCE ; SUBSTRATE ; KINEMATICS ; MODES ; SPEED
WOS类目	Engineering, Multidisciplinary ; Materials Science, Biomaterials ; Robotics
WOS研究方向	Engineering ; Materials Science ; Robotics
资源类型	期刊论文
条目标识符	http://119.78.100.177/qdio/handle/2XILL650/327257
作者单位	[Astley, Henry C.] Univ Akron, Biomimicry Res & Innovat Ctr, Dept Biol, 235 Carroll St, Akron, OH 44325 USA; [Rieser, Jennifer M.; Kaba, Abdul; Paez, Veronica M.; Tomkinson, Ian; Goldman, Daniel, I] Georgia Inst Technol, Dept Phys, Atlanta, GA 30332 USA; [Mendelson, Joseph R., III] Georgia Inst Technol, Dept Biol, Atlanta, GA 30332 USA; [Mendelson, Joseph R., III] Zoo Atlanta, Atlanta, GA 30315 USA
推荐引用方式 GB/T 7714	Astley, Henry C.,Rieser, Jennifer M.,Kaba, Abdul,et al. Side-impact collision: mechanics of obstacle negotiation in sidewinding snakes[J],2020,15(6).
APA	Astley, Henry C..,Rieser, Jennifer M..,Kaba, Abdul.,Paez, Veronica M..,Tomkinson, Ian.,...&Goldman, Daniel, I.(2020).Side-impact collision: mechanics of obstacle negotiation in sidewinding snakes.BIOINSPIRATION & BIOMIMETICS,15(6).
MLA	Astley, Henry C.,et al."Side-impact collision: mechanics of obstacle negotiation in sidewinding snakes".BIOINSPIRATION & BIOMIMETICS 15.6(2020).