Mechano-mathematical modeling approach to a study of evolution of adaptive locomotion in many-legged animals with soft body

2022 Fiscal Year Final Research Report

• Project/Area Number: 20K11995
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Review Section: Basic Section 61040:Soft computing-related
• Research Institution: Aomori University
• Principal Investigator: Kuroda Shigeru 青森大学, ソフトウェア情報学部, 教授 (90431303)
• Project Period (FY): 2020-04-01 – 2023-03-31
• Keywords: ロコモーション / 多足動物 / ソフトボディ / 進化

Outline of Final Research Achievements

Measurements of size of each body segment, leg length, and distance between legs were made for two species of Scolopendromorpha centipedes (Scolopendra mutilans and Scolopocryptops rubiginosus), which are known to have different gait transition patterns, and their body weights were measured. By measuring the dynamic viscoelasticity of centipedes on a length scale including several body segments, which is related to the undulation associated with movement, using a three-point bending measurement method, we found that the two species have qualitatively different characteristics, especially in terms of fast bending velocity. In addition, we developed two-dimensional mechanical models of centipedes: a terrestrial crawling model and a swimming model.

Free Research Field

生物アルゴリズム

Academic Significance and Societal Importance of the Research Achievements

本研究は、2種のムカデの歩容変化の違いに注目し、そのメカニズムの一端を実験とモデリングの両面からアプローチするという独自の方法論によって、柔らかな体と多足移動とを結びつける生物の設計原理の一端の解明に貢献することができた。また、このような基礎研究によって明らかになったメカニズムは、災害現場などの不整地において活躍する生物模倣型ロボットを設計する際に役立つことが期待される。