Dresden 2014 – scientific programme

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DY: Fachverband Dynamik und Statistische Physik

DY 20: Focus Session: Modelling of Non-linear Dynamics in Biological Movement (joint session BP/ DY)

DY 20.1: Topical Talk

Wednesday, April 2, 2014, 14:00–14:30, ZEU 250

Legged locomotion. - From biology to mechanics and return. — •Reinhard Blickhan — Science of Motion, Jena, Germany

The locomotory system of animals has to cope with external and internal physical conditions confining and shaping the evolutionary space. This space can be probed by combining experimental observations with modelling supported by numerical simulations. To sustain locomotion animals are enforced to use oscillatory modes. In terrestrial locomotion this led to the development of legs in arthropods and vertebrates. Physical suitability combined with the requirement to enhance power and/or efficiency and to reduce or facilitate the control effort shape the space of solutions. We can show that gaits such as bipedal walking, grounded running, and running do represent an outcome of a compliant system being operated under different initial conditions. As nonlinear systems these systems inherit the property of attractive modes of operation which are used to reduce the control effort. During locomotion the legs as structural elements must fulfil their prescribed task efficiently. Segmentation of legs must prove itself with respect to this demand. The muscle as a common actuator is traded through evolution. Nevertheless, we start to understand that muscles seem to aggregate properties such as compliance, damping, and a geared output in a rather suitable and adaptable way. An integrative view covering the different levels of organization and the vast range of designs may help us to deduce general principles.