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Common mechanics of mode switching in locomotion of limbless and legged animals

机译:肢体和腿动物运动中模式转换的一般机制

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摘要

Crawling using muscular waves is observed in many species, including planaria, leeches, nemertea, aplysia, snails, chitons, earthworms and maggots. Contraction or extension waves propagate along the antero-posterior axis of the body as the crawler pushes the ground substratum backward. However, the observation that locomotory waves can be directed forward or backward has attracted much attention over the past hundred years. Legged organisms such as centipedes and millipedes exhibit parallel phenomena; leg tips form density waves that propagate backward or forward. Mechanical considerations reveal that leg-density waves play a similar role to locomotory waves in limbless species, and that locomotory waves are used by a mechanism common to both legged and limbless species to achieve crawling. Here, we report that both mode switching of the wave direction and friction control were achieved when backward motion was induced in the laboratory. We show that the many variations of switching in different animals can essentially be classified in two types according to mechanical considerations. We propose that during their evolution, limbless crawlers first moved in a manner similar to walking before legs were obtained. Therefore, legged crawlers might have learned the mechanical mode of movement involved in walking long before obtaining legs.
机译:在许多物种中观察到使用肌肉波爬行,包括浮萍,水planar,nemertea,海参,蜗牛,Chitons,earth和。当爬行器将地面底层向后推动时,收缩波或延伸波沿着人体的前后轴传播。然而,过去一百年来,关于机车波可以向前或向后定向的观察引起了很多关注。有腿的生物,如cent和千足虫,表现出相似的现象。腿尖形成向后或向前传播的密度波。机械方面的考虑表明,腿密度波与无肢物种中的机体波起着相似的作用,而有腿和无肢物种所共有的机制利用机体波来实现爬行。在这里,我们报告说,当在实验室中引起向后运动时,可以实现波方向的模式切换和摩擦控制。我们显示,根据机械方面的考虑,在不同动物中切换的许多变化基本上可以分为两种类型。我们建议,在无肢爬虫的进化过程中,首先以类似于走路的方式移动,直到获得双腿。因此,有腿的爬行者可能早在获得腿之前就已经学会了机械行走的机械方式。

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