| 共催： |
- 京都大学21世紀COE「動的機能機械システムの数理モデルと設計論」
- KiDS (Kyoto interdisciplinary Dynamics Seminar)
|
| 日時： |
2004年12月06日（月） 13:00〜 |
| 場所： |
京都大学 附属図書館 3階 AVホール (吉田キャンパス) アクセス方法 |
| 講演者： |
Prof. Philip Holmes (Department of Mechanical and Aerospace Engineering and Program in Applied and Computational Mathematics, Princeton University) |
| 講演題目： |
Piecewise-holonomic mechanics, hybrid dynamical systems, and escaping cockroaches |
| 講演要旨： |
I will discuss joint work with John Schmitt, Raffaele Ghigliazza and Justin Seipel, in which nonlinear mechanics and hybrid dynamical systems meet biology. Motivated by Robert Full's experimental studies of insects at UC Berkeley, we propose a mechanical model for the dynamics of legged locomotion in the horizontal plane. Our three-degree-of freedom rigid body model with massless, compliant legs in intermittent contact with the ground allows for passive and prescribed (active muscle) force and torque generation. Starting with energetically conservative bipedal models (each leg corresponding to the front/rear/opposite-middle tripod used in rapid running by many insect species), we move on to include active muscles and a central pattern generator of bursting neurons, and begin to develop hexapedal models with more realistic leg geometries. We show that piecewise holonomic mechanics due to intermittent foot contacts can confer strong asymptotic stability, and compare our models' behaviors with experiments on running insects. We stress the relevance of simple models, and show how phase reductions and averaging allow significant simplifications of complex neuromechanical models. |
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