Motion control is of great challenge for bionic soft robotics.For soft-body animals,their motions can be realized smoothly and dextrously under various modes.After millions of years'evolution,their nervous system and motor system are highly compatible to enable excellent motion adaptativity to different environmental conditions.Mimicking the motion control of soft-body animals could provide new clues to improve the performance of soft robots'motion control.Here we investigate several soft-body invertebrate animals such as jellyfish,C.elegans,Leech,and Drosophila larva and introduce their behavioral motion modes,the neuromuscular basis,as well as related neuromechanical models for the neuromuscular mechanisms underlying motion control.Through the comparative analysis between the robots and the animal prototype,we put forward the idea of improving the design of biomimetic robots based on the neuromechanical models.Finally,we analyzed the shortcomings of the existing neuromechanical models of soft-body animals,proposed the future directions in systematic studies on motion control mechanism and neuromechanical modeling in soft-body anmials,and also predicted future applications of the soft robotics.
维普
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