论文标题
章鱼手臂运动的感官反馈控制法
A Sensory Feedback Control Law for Octopus Arm Movements
论文作者
论文摘要
本文的主要贡献是章鱼臂的新型感觉反馈控制法。控制法的启发并有助于整合生物学家的几种观察结果。拟议的控制法与先前的工作不同，后者主要集中在开环控制策略上。描述了一些分析结果，包括表征平衡及其稳定性分析。数值模拟显示了软章鱼臂的栩栩如生的运动，具有质量匹配的行为实验。与弯曲传播实验的定量比较有助于使用感觉反馈控制定律对这种规范运动的首次解释。包括几个言论，有助于与自然追求策略（如运动伪装或古典追求）相似。
The main contribution of this paper is a novel sensory feedback control law for an octopus arm. The control law is inspired by, and helps integrate, several observations made by biologists. The proposed control law is distinct from prior work which has mainly focused on open-loop control strategies. Several analytical results are described including characterization of the equilibrium and its stability analysis. Numerical simulations demonstrate life-like motion of the soft octopus arm, qualitatively matching behavioral experiments. Quantitative comparison with bend propagation experiments helps provide the first explanation of such canonical motion using a sensory feedback control law. Several remarks are included that help draw parallels with natural pursuit strategies such as motion camouflage or classical pursuit.
