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Lecture 1: Overview on Animal Locomotion Control systems are closely coupled (controller) = (plant) Feedforward Control Control systems are closely coupled = Control systems are closely coupled Control systems are closely coupled Feedback Control Forcing the issue body ground reaction force ground reaction force force exerted by leg Forcing the issue Ground reaction forces vary with time. Force sensor Forcing the issue Forcing the issue = = Forcing the issue Forcing the issue Leaving the straight and narrow Leaving the straight and narrow Leaving the straight and narrow Muscles are more than motors Muscles are more than motors sarcomere extensor stress Muscles are more than motors activate here flexor strain 3) measure force strain (Dlength /length) stress (force /area) stim 2) stimulate In phase 1) oscillate muscle Muscles are more than motors Muscle do not have to work as motors to function. slope = stiffness stress changing activation phase strain Muscles are more than motors Physeter macrocephalus (Sperm Whale) largest toothed whale 20 meters long 50,000 Kilograms 70 year lifespan pan-global distribution 200,000 population Central Nervous System Central Nervous System dorsal sensory nerve Central Pattern Generator ventral motor nerve Musculoskeletal System Musculoskeletal System sarcomere Musculoskeletal System myosin power stroke = 10 x 10-9 M whale length = 60 M ~1010 ratio Musculoskeletal System Musculoskeletal System Musculoskeletal System myoglobin Musculoskeletal System Musculoskeletal System Indohyus, 48 mya Musculoskeletal System Musculoskeletal System Hydrodynamics Hydrodynamic Force Velocity, U Force = ½ C S U2 r C = force coefficient of fluke S = Surface area of fluke U = velocity r = density of sea water Hydrodynamics +lift path of fluke +lift thrust thrust thrust -lift Sensory Systems Emits sound at 230 decibels! Higher Order Locomotion Can dive to 3 Kilometers Lecture 1: Overview on Animal Locomotion
