Biological system models reproducing snakes' musculoskeletal system

摘要

Snakes are very unique animals that have distinguished motor function adaptable to the most diverse environments in terrestrial animals regardless of their simple cord-shaped body. Revealing the mechanism underlying this distinct locomotion pattern, which is fundamentally different from walking, is significant not only in biological field but also for applications in engineering field. However, it has been difficult to clarify this adaptive function, emerging from dynamic interaction between body, brain and environment, by previous scientific methodologies based on reductionism, where understanding of the total system is approached by analyzing specific individual elements. In this research, we aim at revealing the mechanisms underlying this adaptability by the use of the constructive methodology, in which biological system models reflecting biological knowledge is used as a tool for analysis of the total system. In this report, we present development of system models, i.e. a dynamics simulator and a robot, constructed based on biological data obtained from dissection, CT-imaging, kinematics measurements and EMG measurements. By constructing mechanical models based on anatomical studies and applying control input designed according to EMG and kinematics measurements into the models, locomotion similar to living snakes was achieved and remaining problems in the models were clarified.