This manuscript describes neuromechanical modeling of the fruit fly Drosophila melanogaster in the form of a hexapod robot, Drosophibot, and an accompanying dynamic simulation. Drosophibot is a testbed for real-time dynamical neural controllers modeled after the anatomy and function of the insect nervous system. As such, Drosophibot has been designed to capture features of the animal’s biomechanics in order to better test the neural controllers. These features include: dynamically scaling the robot to match the fruit fly by designing its joint elasticity and movement speed; a biomimetic actuator control scheme that converts neural activity into motion in the same way as observed in insects; biomimetic sensing, including proprioception from all leg joints and strain sensing from all leg segments; and passively compliant tarsi that mimic the animal’s passive compliance to the walking substrate. We incorporated these features into a dynamical simulation of Drosophibot, and d...

中文翻译：

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果蝇黑腹果蝇的神经动力学模型。

这份手稿以六足机器人 Drosophibot 的形式描述了果蝇黑腹果蝇的神经力学建模，以及伴随的动态模拟。Drosophibot 是一个以昆虫神经系统的解剖结构和功能为模型的实时动态神经控制器的测试平台。因此，Drosophibot 旨在捕捉动物生物力学的特征，以便更好地测试神经控制器。这些功能包括：通过设计其关节弹性和运动速度，动态缩放机器人以匹配果蝇；一种仿生执行器控制方案，可将神经活动转化为运动，其方式与在昆虫中观察到的相同；仿生传感，包括所有腿关节的本体感觉和所有腿段的应变感应；和被动顺从的跗节，模仿动物对行走基质的被动顺从。我们将这些特征整合到 Drosophibot 的动态模拟中，并且...