东方蝼蛄耦合特性、运动学建模及其功能仿生研究
|
摘要
蝼蛄是一种有着优异挖掘能力的昆虫。在高度适应土中生存的同时,蝼蛄还具备一定的地表活动能力、飞行能力和凫水能力,具有多栖性。对动物多栖性能的研究不仅是动物行为学领域的研究热点,同时也可为工程仿生学中机器人在多环境下的“兼容”设计提供重要的生物学基础。对蝼蛄地下挖掘和陆地行走的运动学规律与机理的研究,可为挖掘式多足机器人的设计提供仿生原型。同时,蝼蛄优异的挖掘功能也可为提高触土部件切削能力和提高使用寿命的改进设计提供仿生学依据,具有重要的理论价值和应用前景。
本文利用耦合仿生的研究思想,对蝼蛄的静态与动态耦合特性分别进行了定性、半定量与定量的分析,多角度分析了东方蝼蛄产生优异的环境适应性、体表耐磨特性、挖掘能力的生物耦合原理。在对蝼蛄的运动学研究基础上,建立了蝼蛄运动学物理模型及位姿方程,并对具有优良切削性能的爪趾构形进行了功能仿生。
论文利用体视显微镜、扫描电子显微镜、透射电子显微镜、电感耦合等离子体原子发射光谱仪等多种测试仪器,分别对蝼蛄前足、前胸、前翅这三个主要触土部位的表面微观形态、组织结构、材料构成等耦元进行了生物信息采集及分析,并对其在挖掘运动中耐磨功能的实现机理,即静态耦合特性进行了分析。结果表明,东方蝼蛄系统中,前足、前胸、前翅可分别看做独立的、与土壤作用方式不同的静态耦合。此三个耦合在系统中以方位关系有机组合,东方蝼蛄耐磨功能的实现模式是“组合式非完全均衡并行实现”。
利用高速摄像机,结合自制装置及类土壤介质,采集了蝼蛄在透明介质中前足的运动过程。结果表明,在类土壤介质中,前足产生向外的伸展和收回运动,在一个周期内,这两个运动的轨迹形成一个闭合空间,空间的大小取决于收回幅度的大小,在多数连续周期中呈现左大右小,左小右大的交替规律,且这种交替规律与胸腹关节的左右摆动有关。在挖掘运动中,前足挖掘动作的伸展频率大于后足的伸展频率。后足的伸展取决于前足挖掘前进距离的大小。中足在狭小的洞穴中起到旋转身体的作用,用以改变前足的工作平面。
蝼蛄挖掘过程中,前足、中足、后足及胸腹关节处于身体不同的部位,在运动中与土壤间的作用方式不同,三者以“复合式非完全均衡并行实现模式”实现挖掘功能。静态耦合是动态耦合的物质基础,动态耦合的作用结果与挖掘功能的实现紧密相关。
利用与三维运动信息采集系统,分别采集了完整蝼蛄在地面上的行走运动及缺少前足、中足、后足的蝼蛄附肢运动。在对运动学数据提取分析的基础上,统计了蝼蛄在一个周期内,前足、中足、后足各腿节的角度变化趋势,统计了一个周期内蝼蛄身体左右摆动及上下俯仰的角度变化。对地面行走时的步态及行走规律进行分析,对比了去除足的蝼蛄与完整蝼蛄在步态、各足工作系数、关节运动角度的变化及身体摆动和俯仰的角度变化等运动参数上的异同。结果表明,蝼蛄在地面上的运动分为两个部分：附肢(足)的运动和躯干的运动。附肢的运动包含三对足的配合运动；躯干的运动包含俯仰、偏转甚至滚动。
蝼蛄前足的作用不像普通六足昆虫一样重要,不能起到引导转向的作用,仅限于辅助其它两足更好地发挥各自的功能,具有较小的支撑和拖拽作用。蝼蛄中足在地面运动时起到比普通陆地昆虫更大的作用,具有辅助后足向前推动身体、保持身体稳定及支撑的作用,且能够替代前足,与身体摆动相配合,有效实现控制行走方向、灵活转弯的功能。蝼蛄的后足在地面运动中为身体提供主要的向前推动力,同时能够支撑身体。
被去除的足通常对与其相邻的足影响较大,且受到影响的足上,股-胫节的变化最为明显。前足的去除对蝼蛄的迈步频率、行走速度影响不大,且对另外两对足的步态序列没有产生影响,从侧面证明,前足在行走中只起到较小作用。中足会由于前足的缺失减小关节的伸展,增大关节角度的变化幅度。去除中足后,蝼蛄的前足与后足同时受到影响,前足关节的伸展和收缩幅度变大,用于产生更大的拖拽功能；后足的角度变化规律因身体左右失去平衡而打乱。去除后足后,与肢体完整的蝼蛄相比,前足关节参数基本不变,中足因代偿了后足的推动作用,产生了不同的运动规律,表现为关节角度变化的截然不同。总之,中足和后足在行走时代偿了前足的大部分功能,可将前足从行走中释放出来,用于挖掘。
对蝼蛄质心与附肢的能量进行了计算,比较了蝼蛄与蟑螂及其它两足与四足动物的能量。蝼蛄质心机械能的计算结果与蟑螂相同,但足的动能占总机械能的比值远小于蟑螂,表明其在地面上的运动及耗能方式有别于普通陆地昆虫。
在针对蝼蛄生物学研究基础上建立的蝼蛄运动系统物理模型中,每条足有3个旋转自由度,头胸部与腹部之间有2个旋转自由度。利用D-H法,以质心为全局坐标系,建立蝼蛄足末端在全局坐标系下的位姿方程,可为仿生机器人的动态模拟及设计提供运动学与机械学的理论基础。
蝼蛄的爪趾具有良好的切削性能,以JL80斗齿为原型,利用蝼蛄爪趾的构形,即侧面轮廓线,设计了仿生斗齿,并采用快速成型设备制造出仿生斗齿试件。楔土试验表明,在反铲式挖掘机工况下楔入角为90°和60°时,仿生斗齿的楔入阻力均小于JL80原型斗齿。采用有限元分析软件ANSYS对仿生斗齿和JL80斗齿以60°和90°楔入角楔入土壤时的受力情况进行了数值模拟与分析,模拟试验结果与实际试验一致。模拟试验得出的受力云图表明,在楔入时,仿生斗齿可将对土壤的压力分散,使部分作用力由指向土壤下层改在土壤表层释放,从而减小楔入时的阻力。对JL80斗齿和仿生斗齿楔土的受力分析表明,仿生斗齿可在不改变挖掘机设计与工况的条件下,减小切削角,从而减小斗齿受到的总阻力在水平方向上的分量,进而减小切削阻力。
The mole cricket is a typical soil-dwelling insect which has excellent abilities of digging and excavation. As mole cricket has high degree of adaptability in soil-environment, meanwhile, it has capabilities of moving on ground, flying and swimming, which shows a typical triphibian features. The studies of the habits and characteristics on triphibian insects are hotspots not only in academe, but also can provide the bionic theory foundation for the design of compatibility of the multi-environmental robot. The researches on the mechanism and pattern of the excavating motion and terrestrial locomotion can serve as a prototype for the design of multi-legged excavating robot. Moreover, the fore leg of mole cricket has developed into an effective digging organ, the study of that can offer a new insight into the design and improvement on excavating machinery.
By taking the theory of biological coupling as theoretical guidance, this study applied quantitative, qualitative and semi-quantitative analysis methods to investigate the dynamic and static coupling characteristics of mole cricket, and made relatively comprehensive analysis to the reasons of why mole crickets have the unique adaptability to the soil-environment, wearable body surface and the ability of excavation. The kinematics-based physical model and the location-gesture equation were established based on the kinematics experiment results. Moreover, with the purpose of engineering applications, the geometrical configuration of fore leg claw was studied, which has excellent excavating performance.
The biology information, which include microstructure, tissue structure, and material composition, of mole crickets' main soil-engaging components (fore leg, prothorax, and fore wing) were acquired by using the stereo microscope, scanning electron microscope, transmission electron microscope, and inductively coupled plasma atomic emission spectrometer. By using this information, the implementing mechanism of wearable ability in excavating motion, i.e. the static coupling characteristics, was analyzed. The results show that the fore leg, prothorax and fore wing of mole cricket can be respectively considered as independent coupling system which has different interaction with soil. In the coupling system of mole cricket, these three subsystem assembled by direction and position relationship, and the implementing pattern of wearable ability is'combined parallel implementation of incomplete equilibrium'.
By using the high speed camera and combining with homemade experimental facility and soil's resemblance, the movement course of fore leg in mole crickets were acquired. The results show that the movements of fore leg are composed of a series of stretch and fold actions in digging process. In a specific cycle, the motion trajectories of a stretch and a fold action form a closed loop which area depends on the extent amplitude of the fold action. In majority of sequential cycles, the areas of the loops are alternately changed, which has the relationship with the swing of thorax-abdomen joint. In excavation, motion frequencies of fore legs are bigger than that of middle and the hind legs, the movements of hind legs depend on the distance body moved forward, and the function of the middle leg is to help the body roll so as to switch the working face.
In the coupling system of a digging mole cricket, the interactions between the three pair of legs and soil are diverse from each other. The implementing pattern of digging function is 'compound parallel implementation of incomplete equilibrium'. In conclusion, the static coupling is the material foundation of dynamic coupling which can greatly influence the implementation of digging function.
By using a high speed 3D video recording system, a series of kinematics tests on terrestrial walking mole crickets were carried out, in which the three-dimensional kinematics information and parameters of healthy and disabled mole cricket were recorded and analyzed respectively, including amputated fore leg, amputated middle leg and amputated hind leg. According to the kinematics parameters, the joint angles of three pair of legs and the pitch, yaw, and roll angle of body were calculated respectively. The change patterns of these angles were discussed. By comparing the kinematics parameters of mole cricket with amputated legs and integrity one, the differences on gait pattern, duty factor, joint angles and body angles were investigated. The results shown that the terrestrial locomotion of mole cricket contains two discrete parts:appendage movement and trunk movement, i.e. the cooperation between three pair of legs and body rotation (pitch, yaw and roll), respectively.
According to the results, we can conclude that, during terrestrial locomotion, the fore legs of mole cricket only have the small function of dragging and bracing instead of direction control in contrast with common hexapod insects. The results show that the middle legs of mole cricket do play a more important role than common hexapod insects in guiding direction. When terrestrial walking and turning, the middle legs and body joint act more effective in direction control and body support which compensate the function of fore legs partly, and the hind leg play the roles of pushing body forward and supporting the trunk.
Generally, the amputation of a pair of leg has certain influence on movement of the adjoining leg, especially on angular variation of the femur-tibia joints. The results show that the amputation of fore leg has minor influence on stride frequency and forward velocity, has less influence on the gait sequence of middle and hind leg, which indirectly proved that the main role of fore leg is not walking. After the amputation of fore legs, the extent of stretch of middle legs were decreased, meanwhile the range of joint angular was increased. After the amputation of middle legs, the motions of fore and hind legs were affected simultaneously, in which the movement range of fore legs increase in order to produce more drag force, and the movement pattern of hind legs was disturbed due to the instability of trunk. After the amputation of hind legs, by comparing with the healthy mole crickets, the parameters of joint angle change little in fore legs, and change a lot in middle legs which because the middle legs partly compensate for the function of hind legs. In conclusion, comparing with other common terrestrial insects, the middle and hind legs of mole cricket compensate some functions of fore legs which can relieve the fore legs from walking for digging or excavating.
The kinematics-based physical model was established based on the results of kinematics study, in which every leg has three rotational degrees of freedom and head-abdomen part has two rotational degrees of freedom. By reference to the D-H method, the center of mass was chosen as original point of the global coordinate system, and the location-gesture of the end point of each leg equation was established, which provide the theoretical foundation for the design of bionic digging robot in kinematics and mechanics.
Mole cricket's claws have good characteristics in digging soil. By applying the geometrical shape of the claw of mole cricket to a conventional scale of JL80 excavator bucket teeth, bionic excavator tooth was designed. The models of bionic teeth and JL80 teeth were manufactured by using FDM-Dimension rapid molding system. The results of excavating test show that the resistance of bionic teeth is smaller than JL80 conventional teeth when the wedge angles are 90°and 60°. The internal stress of tooth and soil was simulated and analyzed by using finite element method with ANSYS software. The simulating results are in consistent with the practical experimental results. According to the stress contour, we know that bionic tooth can change the stress concentration place from the tip of tooth to the surface of soil, which can disperse the stress of the soil in order to decrease the resistance of wedging. By analyzing and comparing the stress of JL80 and bionic tooth in wedging process, it is clear that the bionic tooth can decrease the wedge angle by not change the design of excavator machine and the working condition. The horizontal component of the total resistance acting in bionic tooth can be reduced by decreasing the wedge angle, which devote to the decreasing of wedge resistance.
本文利用耦合仿生的研究思想,对蝼蛄的静态与动态耦合特性分别进行了定性、半定量与定量的分析,多角度分析了东方蝼蛄产生优异的环境适应性、体表耐磨特性、挖掘能力的生物耦合原理。在对蝼蛄的运动学研究基础上,建立了蝼蛄运动学物理模型及位姿方程,并对具有优良切削性能的爪趾构形进行了功能仿生。
论文利用体视显微镜、扫描电子显微镜、透射电子显微镜、电感耦合等离子体原子发射光谱仪等多种测试仪器,分别对蝼蛄前足、前胸、前翅这三个主要触土部位的表面微观形态、组织结构、材料构成等耦元进行了生物信息采集及分析,并对其在挖掘运动中耐磨功能的实现机理,即静态耦合特性进行了分析。结果表明,东方蝼蛄系统中,前足、前胸、前翅可分别看做独立的、与土壤作用方式不同的静态耦合。此三个耦合在系统中以方位关系有机组合,东方蝼蛄耐磨功能的实现模式是“组合式非完全均衡并行实现”。
利用高速摄像机,结合自制装置及类土壤介质,采集了蝼蛄在透明介质中前足的运动过程。结果表明,在类土壤介质中,前足产生向外的伸展和收回运动,在一个周期内,这两个运动的轨迹形成一个闭合空间,空间的大小取决于收回幅度的大小,在多数连续周期中呈现左大右小,左小右大的交替规律,且这种交替规律与胸腹关节的左右摆动有关。在挖掘运动中,前足挖掘动作的伸展频率大于后足的伸展频率。后足的伸展取决于前足挖掘前进距离的大小。中足在狭小的洞穴中起到旋转身体的作用,用以改变前足的工作平面。
蝼蛄挖掘过程中,前足、中足、后足及胸腹关节处于身体不同的部位,在运动中与土壤间的作用方式不同,三者以“复合式非完全均衡并行实现模式”实现挖掘功能。静态耦合是动态耦合的物质基础,动态耦合的作用结果与挖掘功能的实现紧密相关。
利用与三维运动信息采集系统,分别采集了完整蝼蛄在地面上的行走运动及缺少前足、中足、后足的蝼蛄附肢运动。在对运动学数据提取分析的基础上,统计了蝼蛄在一个周期内,前足、中足、后足各腿节的角度变化趋势,统计了一个周期内蝼蛄身体左右摆动及上下俯仰的角度变化。对地面行走时的步态及行走规律进行分析,对比了去除足的蝼蛄与完整蝼蛄在步态、各足工作系数、关节运动角度的变化及身体摆动和俯仰的角度变化等运动参数上的异同。结果表明,蝼蛄在地面上的运动分为两个部分：附肢(足)的运动和躯干的运动。附肢的运动包含三对足的配合运动；躯干的运动包含俯仰、偏转甚至滚动。
蝼蛄前足的作用不像普通六足昆虫一样重要,不能起到引导转向的作用,仅限于辅助其它两足更好地发挥各自的功能,具有较小的支撑和拖拽作用。蝼蛄中足在地面运动时起到比普通陆地昆虫更大的作用,具有辅助后足向前推动身体、保持身体稳定及支撑的作用,且能够替代前足,与身体摆动相配合,有效实现控制行走方向、灵活转弯的功能。蝼蛄的后足在地面运动中为身体提供主要的向前推动力,同时能够支撑身体。
被去除的足通常对与其相邻的足影响较大,且受到影响的足上,股-胫节的变化最为明显。前足的去除对蝼蛄的迈步频率、行走速度影响不大,且对另外两对足的步态序列没有产生影响,从侧面证明,前足在行走中只起到较小作用。中足会由于前足的缺失减小关节的伸展,增大关节角度的变化幅度。去除中足后,蝼蛄的前足与后足同时受到影响,前足关节的伸展和收缩幅度变大,用于产生更大的拖拽功能；后足的角度变化规律因身体左右失去平衡而打乱。去除后足后,与肢体完整的蝼蛄相比,前足关节参数基本不变,中足因代偿了后足的推动作用,产生了不同的运动规律,表现为关节角度变化的截然不同。总之,中足和后足在行走时代偿了前足的大部分功能,可将前足从行走中释放出来,用于挖掘。
对蝼蛄质心与附肢的能量进行了计算,比较了蝼蛄与蟑螂及其它两足与四足动物的能量。蝼蛄质心机械能的计算结果与蟑螂相同,但足的动能占总机械能的比值远小于蟑螂,表明其在地面上的运动及耗能方式有别于普通陆地昆虫。
在针对蝼蛄生物学研究基础上建立的蝼蛄运动系统物理模型中,每条足有3个旋转自由度,头胸部与腹部之间有2个旋转自由度。利用D-H法,以质心为全局坐标系,建立蝼蛄足末端在全局坐标系下的位姿方程,可为仿生机器人的动态模拟及设计提供运动学与机械学的理论基础。
蝼蛄的爪趾具有良好的切削性能,以JL80斗齿为原型,利用蝼蛄爪趾的构形,即侧面轮廓线,设计了仿生斗齿,并采用快速成型设备制造出仿生斗齿试件。楔土试验表明,在反铲式挖掘机工况下楔入角为90°和60°时,仿生斗齿的楔入阻力均小于JL80原型斗齿。采用有限元分析软件ANSYS对仿生斗齿和JL80斗齿以60°和90°楔入角楔入土壤时的受力情况进行了数值模拟与分析,模拟试验结果与实际试验一致。模拟试验得出的受力云图表明,在楔入时,仿生斗齿可将对土壤的压力分散,使部分作用力由指向土壤下层改在土壤表层释放,从而减小楔入时的阻力。对JL80斗齿和仿生斗齿楔土的受力分析表明,仿生斗齿可在不改变挖掘机设计与工况的条件下,减小切削角,从而减小斗齿受到的总阻力在水平方向上的分量,进而减小切削阻力。
The mole cricket is a typical soil-dwelling insect which has excellent abilities of digging and excavation. As mole cricket has high degree of adaptability in soil-environment, meanwhile, it has capabilities of moving on ground, flying and swimming, which shows a typical triphibian features. The studies of the habits and characteristics on triphibian insects are hotspots not only in academe, but also can provide the bionic theory foundation for the design of compatibility of the multi-environmental robot. The researches on the mechanism and pattern of the excavating motion and terrestrial locomotion can serve as a prototype for the design of multi-legged excavating robot. Moreover, the fore leg of mole cricket has developed into an effective digging organ, the study of that can offer a new insight into the design and improvement on excavating machinery.
By taking the theory of biological coupling as theoretical guidance, this study applied quantitative, qualitative and semi-quantitative analysis methods to investigate the dynamic and static coupling characteristics of mole cricket, and made relatively comprehensive analysis to the reasons of why mole crickets have the unique adaptability to the soil-environment, wearable body surface and the ability of excavation. The kinematics-based physical model and the location-gesture equation were established based on the kinematics experiment results. Moreover, with the purpose of engineering applications, the geometrical configuration of fore leg claw was studied, which has excellent excavating performance.
The biology information, which include microstructure, tissue structure, and material composition, of mole crickets' main soil-engaging components (fore leg, prothorax, and fore wing) were acquired by using the stereo microscope, scanning electron microscope, transmission electron microscope, and inductively coupled plasma atomic emission spectrometer. By using this information, the implementing mechanism of wearable ability in excavating motion, i.e. the static coupling characteristics, was analyzed. The results show that the fore leg, prothorax and fore wing of mole cricket can be respectively considered as independent coupling system which has different interaction with soil. In the coupling system of mole cricket, these three subsystem assembled by direction and position relationship, and the implementing pattern of wearable ability is'combined parallel implementation of incomplete equilibrium'.
By using the high speed camera and combining with homemade experimental facility and soil's resemblance, the movement course of fore leg in mole crickets were acquired. The results show that the movements of fore leg are composed of a series of stretch and fold actions in digging process. In a specific cycle, the motion trajectories of a stretch and a fold action form a closed loop which area depends on the extent amplitude of the fold action. In majority of sequential cycles, the areas of the loops are alternately changed, which has the relationship with the swing of thorax-abdomen joint. In excavation, motion frequencies of fore legs are bigger than that of middle and the hind legs, the movements of hind legs depend on the distance body moved forward, and the function of the middle leg is to help the body roll so as to switch the working face.
In the coupling system of a digging mole cricket, the interactions between the three pair of legs and soil are diverse from each other. The implementing pattern of digging function is 'compound parallel implementation of incomplete equilibrium'. In conclusion, the static coupling is the material foundation of dynamic coupling which can greatly influence the implementation of digging function.
By using a high speed 3D video recording system, a series of kinematics tests on terrestrial walking mole crickets were carried out, in which the three-dimensional kinematics information and parameters of healthy and disabled mole cricket were recorded and analyzed respectively, including amputated fore leg, amputated middle leg and amputated hind leg. According to the kinematics parameters, the joint angles of three pair of legs and the pitch, yaw, and roll angle of body were calculated respectively. The change patterns of these angles were discussed. By comparing the kinematics parameters of mole cricket with amputated legs and integrity one, the differences on gait pattern, duty factor, joint angles and body angles were investigated. The results shown that the terrestrial locomotion of mole cricket contains two discrete parts:appendage movement and trunk movement, i.e. the cooperation between three pair of legs and body rotation (pitch, yaw and roll), respectively.
According to the results, we can conclude that, during terrestrial locomotion, the fore legs of mole cricket only have the small function of dragging and bracing instead of direction control in contrast with common hexapod insects. The results show that the middle legs of mole cricket do play a more important role than common hexapod insects in guiding direction. When terrestrial walking and turning, the middle legs and body joint act more effective in direction control and body support which compensate the function of fore legs partly, and the hind leg play the roles of pushing body forward and supporting the trunk.
Generally, the amputation of a pair of leg has certain influence on movement of the adjoining leg, especially on angular variation of the femur-tibia joints. The results show that the amputation of fore leg has minor influence on stride frequency and forward velocity, has less influence on the gait sequence of middle and hind leg, which indirectly proved that the main role of fore leg is not walking. After the amputation of fore legs, the extent of stretch of middle legs were decreased, meanwhile the range of joint angular was increased. After the amputation of middle legs, the motions of fore and hind legs were affected simultaneously, in which the movement range of fore legs increase in order to produce more drag force, and the movement pattern of hind legs was disturbed due to the instability of trunk. After the amputation of hind legs, by comparing with the healthy mole crickets, the parameters of joint angle change little in fore legs, and change a lot in middle legs which because the middle legs partly compensate for the function of hind legs. In conclusion, comparing with other common terrestrial insects, the middle and hind legs of mole cricket compensate some functions of fore legs which can relieve the fore legs from walking for digging or excavating.
The kinematics-based physical model was established based on the results of kinematics study, in which every leg has three rotational degrees of freedom and head-abdomen part has two rotational degrees of freedom. By reference to the D-H method, the center of mass was chosen as original point of the global coordinate system, and the location-gesture of the end point of each leg equation was established, which provide the theoretical foundation for the design of bionic digging robot in kinematics and mechanics.
Mole cricket's claws have good characteristics in digging soil. By applying the geometrical shape of the claw of mole cricket to a conventional scale of JL80 excavator bucket teeth, bionic excavator tooth was designed. The models of bionic teeth and JL80 teeth were manufactured by using FDM-Dimension rapid molding system. The results of excavating test show that the resistance of bionic teeth is smaller than JL80 conventional teeth when the wedge angles are 90°and 60°. The internal stress of tooth and soil was simulated and analyzed by using finite element method with ANSYS software. The simulating results are in consistent with the practical experimental results. According to the stress contour, we know that bionic tooth can change the stress concentration place from the tip of tooth to the surface of soil, which can disperse the stress of the soil in order to decrease the resistance of wedging. By analyzing and comparing the stress of JL80 and bionic tooth in wedging process, it is clear that the bionic tooth can decrease the wedge angle by not change the design of excavator machine and the working condition. The horizontal component of the total resistance acting in bionic tooth can be reduced by decreasing the wedge angle, which devote to the decreasing of wedge resistance.
引文
[1]Kar D C, Kurien I K, Jayarajan K. Gaits and energetics in terrestrial legged locomotion[J]. Mechanism and Machine Theory,2003,38:355-366.
[2]董久樟,曹国权,王欣.非开挖技术在北京燃气管线铺设及修复领域的应用.第一届中国城市地下工程非开挖技术研讨会论文集[C],2004：166-175.
[3]耿瑞伦.当今非开挖铺设管线技术的新进展[J].探矿工程,2000,(7)：54-56.
[4]Vincent J F V, Bogatyreva O A, Bogatyrev N R, Bowyer A, Pahl A-K. Biomimetics, its practice and theory[J]. Journal of the Royal Society Interface,2006,3:471-482.
[5]Steele J E. How Do We Get There?. Bionics Symposium:Living Prototypes-The Key to New Technology, WADD Technical Report 60-600, Wright Air Development Division, Wright-Patterson Air Force Base, OH,1960:488-489. In:Gary C H (ed). The Cyborg Handbook[M], New York:Routledge,1995.
[6]Podborschi V, Vaculenco M. Natural shapes-A source of inspiration for eco-design[J]. Product Engineering,2005,1:111-120.
[7]Vincent J F V. Making a mechanical organism, being the fourth in a series of essays on the materials of nature[J]. Journal of Bionic Engineering,2006,3:43-58.
[8]Jiang Z X, Geng L, Huang Y D, Guan S A, Dong W, Ma Z Y. The model of rough wetting for hydrophobic steel meshes that mimic Asparagus setaceus leaf[J]. Journal of Colloid and Interface Science,2011,354:866-872.
[9]吉爱红,戴振东,周来水.仿生机器人的研究进展[J].机器人,2005,27(3)：284-288.
[10]Su S H, Hua Z K, Zhang J H. Design and mechanics simulation of bionic lubrication system of artificial Jjoints[J]. Journal of Bionic Engineering,2006,3:155-160.
[11]Shyy W, Berg M, Ljungqvist D. Flapping and flexible wings for biological and micro air vehicles [J]. Progress in Aerospace Sciences,1999,35:455-505.
[12]Xu C F, Duan H B, Liu F. Chaotic artificial bee colony approach to Uninhabited Combat Air Vehicle (UCAV) path planning[J]. Aerospace Science and Technology, 2010,14:535-541.
[13]Ren L Q, Liang Y H. Biological couplings, Classification and characteristic rules[J]. Science in China E, Technological Sciences,2009,52(10):2791-2800.
[14]田喜梅,李建桥,刘国敏,李因武.赤子爱胜蚓Eisenia foetida体表形貌及润湿性 的研究[J].广西农业生物科学,2008,27(4)：477-482.
[15]Brandenburg R, Xia Y, Schoeman A S. Tunnel architectures of three species of mole crickets (Orthoptera, Gryllotalpidae)[J]. Florida Entomologist,2002,85:383-385.
[16]Endo C. The underground life of the oriental mole cricket, an analysis of burrow morphology[J]. Journal of Zoology,2007,273:414-420.
[17]http//entnemdept.ufl.edu/fasulo/molecrickets/mcri0201.htm
[18]高吭,佟金.东方蝼蛄体表形态与润湿性[J].农业机械学报.2008,39(11)：172-175.
[19]Bartsch M S. Micromachined Transducers for Insect Ground Reaction Force Measurement[D]. California:Stanford University Predd,2003.
[20]韩建海,赵书尚,李济顺.六足机器人行走步态的协调控制[J].机电工程,2004,21：8-10.
[21]Wilson D M. Insect walking[J]. Annual Review of Entomology,1966,11:103-122.
[22]Full R J, Tu M S. Mechanics of a rapid running insect, two-, fourand six-legged locomotion[J]. Journal of Experimental Biology,1991,156:215-231.
[23]Hughes G M. The co-ordination of insect movements. I. The walking movement of insects[J]. Journal of Experimental Biology,1952,29:267-284.
[24]Full R J, Tu M S. The mechanics of six-legged runners [J]. Journal of Experimental Biology,1990,148:129-146.
[25]Full R J, Blickhan R, Ting L H. Leg design in hexpedal runners[J]. Journal of Experimental Biology,1991,158:369-390.
[26]Ting L H, Blickhan R, Full R J. Dynamic and static stability in hexapedal runners[J]. Journal of Experimental Biology,1994,197:251-269.
[27]Koditscheka D E, Full R J, Buehler M. Mechanical aspects of legged locomotion control[J]. Arthropod Structure & Development,2004,33:251-272
[28]Dickinson M H, Farley C T, Full R J, et al. How animals move, An integrative view[J]. Science,2000,288:100-106.
[29]Schmitt J, Holmes P. Mechanical models for insect locomotion, dynamics and stability in the horizontal plane theory[J]. Biological Cybernetics,2000,83:501-515.
[30]Schmitt J, Holmes P. Mechanical models for insect locomotion, active muscles and energy losses[J]. Biological Cybernetics,2003,89:43-55.
[31]Seipel J E, Holmes P J, Full R J. Dynamics and stability of insect locomotion, A hexapedal model for horizontal plane motions[J]. Biological Cybernetics,2004,91: 76-90.
[32]Watson J T, Ritzmann R E. Leg kinematics and muscle activity during treadmill running in the cockroach, Blaberus discoidalis, I. Slow running[J]. Journal of Comparative Physiology A,1998,182:11-22.
[33]Cruse H, Bartling Ch. Movement of joint angles in the legs of a walking insect, Carausius morosus[J]. Journal of Insect Physiology,1995,41(9):761-771.
[34]Diederich B, Schumm M, Cruse H. Stick insects walking along inclined surfaces[J]. Integrative and Comparative Biology,2002,42:165-173.
[35]Reinhardt L, Weihmann T, Blickhan R. Dynamics and kinematics of ant locomotion, do wood ants climb on level surfaces?[J]. The Journal of Experimental Biology,2009, 212:2426-2435.
[36]Ritzmanna R E, Quinn R D, Fischer M S. Convergent evolution and locomotion through complex terrain by insects, vertebrates and robots [J]. Arthropod Structure& Development,2004,33:361-379.
[37]Ritzmann R E, Pollack A J, Archinal J, Ridgel A L, Quinn R D. Descending control of body attitude in the cockroach Blaberus discoidalis and its role in incline climbing[J]. Journal of Comparative Physiology A,2005,191:253-264.
[38]Fedak M A, Heglund N C, Taylor C R. Energetics and mechanics of terrestrial locomotion. Ⅱ. Kinetic energy changes of the limbs and body as a function of speed and body size in birds and mammals[J]. The Journal of Experimental Biology,1982, 97:23-40.
[39]Kram R, Wong B, Full R J. Three-dimensional kinematics and limb kinetic energy of running cockroaches [J]. The Journal of Experimental Biology,1997,200,1919-1929.
[40]Delcomyn F, Nelson M E. Architectures for a biomimetic hexapod robot[J]. Robotics and Autonomous Systems,2000,30:5-15.
[41]Martin-alvarez A, de Peuter W, Hillebrand J, Putz P, Matthyssen A, de Weerd J F. Walking robots for planetary exploration missions[C]. Second World Automation Congress (WAC'96), Montpellier, France,1996.
[42]Saranli U, Buehler M, Koditschek D. Design, modeling and preliminary control of a compliant hexapod robot. IEEE International Conference on Robotics and Automation[C], San Francisco, CA,2000,2589-2596.
[43]Altendorfer R, Moore N, Komsuoglu H, Buehler M, Brown H B, McMordie D, Saranli U, Full R, Koditschek D E. RHex, A biologically inspired hexapod runner [J]. Autonomous Robots,2001,11:207-213.
[44]Komsuoglu H, Sohn K, Full R J, Koditschek D E. A physical model for dynamical arthropod running on level ground. Proceedings of the 11th International Symposium on Experimental Robotics[C], Athens, Greece,2008:303-317.
[45]Quinn R D, Kingsley D A, Offi J T, Ritzmann r e. improved mobility through abstracted biological principles [C]. IEEE International Conference on Intelligent Robots and Systems (IROS'02), Lausanne, Switzerland,2002.
[46]Quinn R D, Nelson G M, Ritzmann R E, Bachmann R J, Kingsley D A, Offi J T, Allen T J. Parallel strategies for implementing biological principles into mobile robots[J]. International Journal of Robotics Research,2003,22:169-186.
[47]Allen T J, Quinn R D, Bachmann R J, Ritzmann R E. Abstracted biological principles applied with reduced actuation improve mobility of legged vehicles [J]. IEEE International Conference on Intelligent Robots and Systems (IROS'03), Las Vegas, Nevada, USA,2003.
[48]Barthlott W, Neinhuis C. Purity of the sacred lotus, or escape from contamination in biological surfaces[J]. Planta,1997,202:1-8.
[49]Ren L Q, Wang S J, Tian X M, Han Z W, Yan L N, Qiu Z M. Non-smooth morphologies of typical plant leaf surfaces and their anti-adhesion effects [J]. Journal of Bionic Engineering,2007,4:33-40.
[50]Luo B H, Shum P W, Zhou Z F, Li K Y. Preparation of hydrophobic surface on steel by patterning using laser ablation process[J]. Surface & Coatings Technology,2010, 204:1180-1185.
[51]Cardoso M R, Tribuzi V, Balogh D T, Misoguti L, Mendonca C R. Laser micro structuring for fabricating superhydrophobic polymeric surfaces[J]. Applied Surface Science,2011,257:3281-3284.
[52]Kamps S, Ensinger W, Eder F, Berndt A, Zeininger H. Processes and structures for generation of hydrophobic surfaces for large-scale and industrial operations [J]. Applied Surface Science,2009,256S:S92-S95.
[53]Ge H L, Song Y L, Jiang L, Zhu D B. One-step preparation of polystyrene colloidal crystal films with structural colors and high hydrophobicity[J]. Thin Solid Films, 2006,515(4):1539-1543.
[54]蔡柏岐,牛瑶.我国三种蝼蛄的雄性生殖器鉴别[J].昆虫知识,2002,39(2)：152-153.
[55]何忠,陈念丽,席瑞华,等.非洲蝼蛄的鸣声结构及声引诱[J].动物学报,1989,35(1)：73-81.
[56]康乐.我国的”非洲蝼蛄”应为”东方蝼蛄”[J].昆虫知识,1993,30(2)：124-127.
[57]国家中医药管理局《中华本草》编委会.中华本草第九卷[M].上海：上海科学技术出版社,1999：163.
[58]浙江省嘉兴市农业学校.农业昆虫学[M].北京：农业出版社,1980：207-210.
[59]Kidd J. On the anatomy of the mole-cricket[J]. Philosophical Tranasactions of the Royal Society of London,1825,115:203-246.
[60]任露泉,梁云虹.生物耦合功能特性及其实现模式[J].中国科学：技术科学,2010,40(3)：223-230.
[61]康莲娣.生物电子显微技术[M].北京：中国科学技术大学出版社,2003.
[62]Zhao F J, McGrath S P, Crosland A R. Comparison of three wet digestion methods for the determination of plant sulphur by coupled plasma atomic emission spectrometry (ICP-ASE)[J]. Communications in Soil Science and Plant Analysis,1994,25: 407-418.
[63]吉尔W R,范德伯奇G E.耕作和牵引土壤动力学[M].北京：中国农业机械出版社,1983.
[64]任露泉,徐晓波,陈秉聪.典型土壤动物爪趾形态的初步分析[J].农业机械学报,1990,(2)：44-49.
[65]郭志军.土壤深松部件高效节能仿生设计及限元分析[D].长春：吉林大学,2002.
[66]高吭.东方蝼蛄(Gryllotalpa orientalis Burmeister)特征、功能、力学及其仿生分析[D],长春：吉林大学,2009.
[67]Vincent J F V. Arthropod cuticle:A natural composite shell system[J]. Composites: Part A,2002,33:1311-1315.
[68]Vincent J F V. Survival of the cheapest[J]. Materials Today,2002,5 (12):28-41.
[69]Neville A C. Biology of Fibrous Composites, development beyond the cell membrane[M]. Cambridge:Cambridge University Press,1993.
[70]崔福斋,冯庆玲.生物材料学[M].北京：清华大学出版社,1996,82.
[71]Vincent J F V. Holes in biological structures:A neglected resource[J]. Comparative Biochemistry and Physiology B,2000,126:S1-S108.
[72]Wu X Y, Guan F L, Chen B, Wang Y W. Microstructures of the fiber-round hole of the chafer cuticle[J]. Advanced Materials Research,2009,79-82:199-202.
[73]Hillerton J E, Vincent J F V. The specific location of zinc in insect mandibles [J]. Journalof Experimental Biology,1982,101(1):333-336.
[74]Hillerton J E, Robertson B, Vincent J F V. The presence of zinc or manganese as the predominant metal in the mandibles of adult, stored-product beetles [J]. Journal of Stored Products Research,1984,20:133-137.
[75]Morgan T D, Baker P, Kramer K J, Basibuyuk H H, Quicke D L J. Metals in mandibles of stored product insects:do zinc and manganese enhance the ability of larvae to infest seeds?[J]. Journal of Stored Products Research,2003,39:65-75.
[76]李建桥,任露泉,陈秉聪.土壤动物非光滑体表几何单元的统计分析及模拟[J].农业工程学报,1995,11(2)：1-5.
[77]Desutter-Grandcolas L. Comparative morphology of cereal structures in true crickets and their allies(Orthoptera, Ensifera):a phylogenetic perspective[J]. Zoomorphology, 1998,118:235-243.
[78]Miller T A. Review of Physiological Systems in Insects[M]. San Diego:Academic Press,2002.
[79]Mordue W, Goldsworthy G J, Bardy J, Blaney W M. Insect Physiology[M]. Oxford: Blackwell scientific publications,1980.
[80]Andersen S O, Peter M G, Roepstorff P. Cuticular sclerotization in insects[J]. Comparative Biochemistry and Physiology B.1996,113B:689-705.
[81]Vincent J F V. Insect cuticle-a paradigm for natural composites [J]. Symposia of the Societyfor Experimental Biology,1980,34 (2):183-210.
[82]Schmidt J, Kleffmann T, Schaub G A. Hydrophobic attachment of Trypanosoma cruzi to a superficial layer of the rectal cuticle in the bug Triatoma infestans[J]. Parasitol Research.1998,84(7):527-536.
[83]Hepburn H R. Structure of the integument. In:Kerkut G A, et al (eds). Comprehensive Insect Physiology Biochemistry and Pharmacology, Vol.3, Integument, Respiration and Circulation[M]. Oxford:Pergamon Press,1985.
[84]H.韦贝尔.昆虫学纲要[M].北京：高等教育出版社,1982.
[85]蒋挺大.甲壳素[M].北京：中国环境科学出版社,1996.
[86]Richards O W, Davies R G. Imms’General Textbook of Entomology (10th ed)[M], London:Chapman and Hall,1977.
[87]马和中.生物力学导论[M].北京：北京航空学院出版社出版,1986：7-10.
[88]刘凌云,郑光美.普通动物学[M].北京：高等教育出版社,1997：275-276.
[89]Wootton R J, Evans K E, Herbert R, Smith C W. The hind wing of the desert locust [J]. The Journal of Experimental Biology,2000,203,2921-2931.
[90]M.谢尔格,S.戈尔博.微/纳米生物摩擦学[M].北京：机械工业出版社,2004：41-57.
[91]Maladen R D, Ding Y, Li C, Goldman D I. Undulatory swimming in sand:Subsurface locomotion of the Sandfish lizard. Science[J],2009,325:314-317.
[92]钱志辉.人体足部运动的有限元建模及其生物力学功能耦合分析[D],长春：吉林大学,2010,126.
[93]Delcomyn F. The locomotion of the cockroach Periplaneta Americana[J]. Journal of Experimental Biology,1971,54:443-452.
[94]Goslow G E, Seeherman H J, Taylor C R, Me Cutchin M N, Heglund N C. Electrical-activity and relative length changes of dog limb muscles as a function of speed and gait[J]. Journal of Experimental Biology,1981,94:15-42.
[95]Miriam A. Ashley-Ross, Brett F. Bechtel. Kinematics of the transition between aquatic and terrestrial locomotion in the newt Taricha torosa[J]. Journal of Experimental Biology,2004,207:461-474.
[96]Dai Z D, Sun J R. A Biomimetic study of discontinuous-constraint metamorphic mechanism for gecko-like robot[J]. Journal of Bionic Engineering,2007,4:91-95.
[97]Von Buddenbrock, W. V. Der Rhythmus der Schreitbewegungen der Stabheuschrecke Dyxippus[J]. Biologisches Zentralblatt,1921,41:41-48.
[98]McGhee R B, Frank A A. On the stability properties of quadruped creeping gait[J]. Mathematical Biosciences,1968,3:331-351.
[99]Kram R, Wong B, Full R J. Three-dimensional kinematics and limb kinetic energy of running cockroaches [J]. The Journal of Experimental Biology,1997,200:1919-1929.
[100]Goldman D I, Chen T S, Dudek D M, Full R J. Dynamics of rapid vertical climbing in cockroaches reveals a template [J]. Journal of Experimental Biology,2006,209: 2990-3000.
[101]Ritzmanna R E, Quinn R D, Fischer M S. Convergent evolution and locomotion through complex terrain by insects, vertebrates and robots [J]. Arthropod Structure & Development,2004,33:361-379.
[102]Jindrich D L, Full R J. Many-legged maneuver ability:dynamics of turning in hexapods[J]. Journal of Experimental Biology,1999,202:1603-1623.
[103]Fedak M A, Heglund N C, Taylor C R. Energetics and mechanics of terrestrial locomotion. Ⅱ. Kinetic energy changes of the limbs and body as a function of speed and body size in birds and mammals[J]. Journal of Experimental Biology,1982,79: 23-40.
[104]Heglund N C, Cavagna G A, Taylor C R. Energetics and mechanics of terrestrial locomotion. III. Energy changes of the centre of mass as a function of speed and body size in birds and mammals[J]. Journal of Experimental Biology,1982,79,41-56.
[105]Heglund N C, Fedak M A, Taylor C R, Cavagna G A. Energetics and mechanics of terrestrial locomotion. IV. Total mechanical energy changes as a function of speed and body size in birds and mammals[J]. Journal of Experimental Biology,1982,97: 57-66.
[106]Fedak M A, Seeherman H J. Peappraisa of energetics of locomotion shows identical cost in bipeds and quadrupeds including ostrich and horse[J]. Nature,1979,282: 713-716.
[107]Frantsevich L, Wang W Y. Gimbals in the insect leg[J]. Arthropod Structure& Development,2009,38:16-30.
[108]Koren Y. Robotics for Engineers[M]. New York:McGraw-Hill Book Co.,1985.
[109]同济大学.单斗液压挖掘机[M].第二版,北京：中国建筑工业出版社,1986.
[110]王本生.挖掘机自刃型斗齿的设计[J].矿山机械,2000,9：31.
[111]陈再良,李亚兰.矿用挖掘机斗齿的研制[J].矿山机械,1992,9：9-11.
[112]吴秉玉.斗齿材料结构及提高使用寿命的途径[J].矿山机械,1982,12：16-21.
[113]王文彬.挖掘机斗齿材料及提高使用寿命的工艺途径[J].工程机械,1989,5：48-50.
[114]液压挖掘机斗齿分类.中华人民共和国建筑工业行业标准.JG/T 90-1999[S].北京：中国标准出版社,1999.
[115]曹品鲁.潜孔锤冲击挤密钻进机理及挤密钻头的设计与实验研究[D].长春：吉林大学,2007.
[116]郭洪霞.土壤中挤压成孔工作部件的仿生研究[D].长春：吉林大学,2006：66-70.
[117]Mouazen A M, Nemenyi M. Tillage tool design by the finite element method:part 1, finite element modelling of soil plastic behaviour[J]. Journal of Agriculture Engineerng Research,1999,72(1):37-51.
[2]董久樟,曹国权,王欣.非开挖技术在北京燃气管线铺设及修复领域的应用.第一届中国城市地下工程非开挖技术研讨会论文集[C],2004：166-175.
[3]耿瑞伦.当今非开挖铺设管线技术的新进展[J].探矿工程,2000,(7)：54-56.
[4]Vincent J F V, Bogatyreva O A, Bogatyrev N R, Bowyer A, Pahl A-K. Biomimetics, its practice and theory[J]. Journal of the Royal Society Interface,2006,3:471-482.
[5]Steele J E. How Do We Get There?. Bionics Symposium:Living Prototypes-The Key to New Technology, WADD Technical Report 60-600, Wright Air Development Division, Wright-Patterson Air Force Base, OH,1960:488-489. In:Gary C H (ed). The Cyborg Handbook[M], New York:Routledge,1995.
[6]Podborschi V, Vaculenco M. Natural shapes-A source of inspiration for eco-design[J]. Product Engineering,2005,1:111-120.
[7]Vincent J F V. Making a mechanical organism, being the fourth in a series of essays on the materials of nature[J]. Journal of Bionic Engineering,2006,3:43-58.
[8]Jiang Z X, Geng L, Huang Y D, Guan S A, Dong W, Ma Z Y. The model of rough wetting for hydrophobic steel meshes that mimic Asparagus setaceus leaf[J]. Journal of Colloid and Interface Science,2011,354:866-872.
[9]吉爱红,戴振东,周来水.仿生机器人的研究进展[J].机器人,2005,27(3)：284-288.
[10]Su S H, Hua Z K, Zhang J H. Design and mechanics simulation of bionic lubrication system of artificial Jjoints[J]. Journal of Bionic Engineering,2006,3:155-160.
[11]Shyy W, Berg M, Ljungqvist D. Flapping and flexible wings for biological and micro air vehicles [J]. Progress in Aerospace Sciences,1999,35:455-505.
[12]Xu C F, Duan H B, Liu F. Chaotic artificial bee colony approach to Uninhabited Combat Air Vehicle (UCAV) path planning[J]. Aerospace Science and Technology, 2010,14:535-541.
[13]Ren L Q, Liang Y H. Biological couplings, Classification and characteristic rules[J]. Science in China E, Technological Sciences,2009,52(10):2791-2800.
[14]田喜梅,李建桥,刘国敏,李因武.赤子爱胜蚓Eisenia foetida体表形貌及润湿性 的研究[J].广西农业生物科学,2008,27(4)：477-482.
[15]Brandenburg R, Xia Y, Schoeman A S. Tunnel architectures of three species of mole crickets (Orthoptera, Gryllotalpidae)[J]. Florida Entomologist,2002,85:383-385.
[16]Endo C. The underground life of the oriental mole cricket, an analysis of burrow morphology[J]. Journal of Zoology,2007,273:414-420.
[17]http//entnemdept.ufl.edu/fasulo/molecrickets/mcri0201.htm
[18]高吭,佟金.东方蝼蛄体表形态与润湿性[J].农业机械学报.2008,39(11)：172-175.
[19]Bartsch M S. Micromachined Transducers for Insect Ground Reaction Force Measurement[D]. California:Stanford University Predd,2003.
[20]韩建海,赵书尚,李济顺.六足机器人行走步态的协调控制[J].机电工程,2004,21：8-10.
[21]Wilson D M. Insect walking[J]. Annual Review of Entomology,1966,11:103-122.
[22]Full R J, Tu M S. Mechanics of a rapid running insect, two-, fourand six-legged locomotion[J]. Journal of Experimental Biology,1991,156:215-231.
[23]Hughes G M. The co-ordination of insect movements. I. The walking movement of insects[J]. Journal of Experimental Biology,1952,29:267-284.
[24]Full R J, Tu M S. The mechanics of six-legged runners [J]. Journal of Experimental Biology,1990,148:129-146.
[25]Full R J, Blickhan R, Ting L H. Leg design in hexpedal runners[J]. Journal of Experimental Biology,1991,158:369-390.
[26]Ting L H, Blickhan R, Full R J. Dynamic and static stability in hexapedal runners[J]. Journal of Experimental Biology,1994,197:251-269.
[27]Koditscheka D E, Full R J, Buehler M. Mechanical aspects of legged locomotion control[J]. Arthropod Structure & Development,2004,33:251-272
[28]Dickinson M H, Farley C T, Full R J, et al. How animals move, An integrative view[J]. Science,2000,288:100-106.
[29]Schmitt J, Holmes P. Mechanical models for insect locomotion, dynamics and stability in the horizontal plane theory[J]. Biological Cybernetics,2000,83:501-515.
[30]Schmitt J, Holmes P. Mechanical models for insect locomotion, active muscles and energy losses[J]. Biological Cybernetics,2003,89:43-55.
[31]Seipel J E, Holmes P J, Full R J. Dynamics and stability of insect locomotion, A hexapedal model for horizontal plane motions[J]. Biological Cybernetics,2004,91: 76-90.
[32]Watson J T, Ritzmann R E. Leg kinematics and muscle activity during treadmill running in the cockroach, Blaberus discoidalis, I. Slow running[J]. Journal of Comparative Physiology A,1998,182:11-22.
[33]Cruse H, Bartling Ch. Movement of joint angles in the legs of a walking insect, Carausius morosus[J]. Journal of Insect Physiology,1995,41(9):761-771.
[34]Diederich B, Schumm M, Cruse H. Stick insects walking along inclined surfaces[J]. Integrative and Comparative Biology,2002,42:165-173.
[35]Reinhardt L, Weihmann T, Blickhan R. Dynamics and kinematics of ant locomotion, do wood ants climb on level surfaces?[J]. The Journal of Experimental Biology,2009, 212:2426-2435.
[36]Ritzmanna R E, Quinn R D, Fischer M S. Convergent evolution and locomotion through complex terrain by insects, vertebrates and robots [J]. Arthropod Structure& Development,2004,33:361-379.
[37]Ritzmann R E, Pollack A J, Archinal J, Ridgel A L, Quinn R D. Descending control of body attitude in the cockroach Blaberus discoidalis and its role in incline climbing[J]. Journal of Comparative Physiology A,2005,191:253-264.
[38]Fedak M A, Heglund N C, Taylor C R. Energetics and mechanics of terrestrial locomotion. Ⅱ. Kinetic energy changes of the limbs and body as a function of speed and body size in birds and mammals[J]. The Journal of Experimental Biology,1982, 97:23-40.
[39]Kram R, Wong B, Full R J. Three-dimensional kinematics and limb kinetic energy of running cockroaches [J]. The Journal of Experimental Biology,1997,200,1919-1929.
[40]Delcomyn F, Nelson M E. Architectures for a biomimetic hexapod robot[J]. Robotics and Autonomous Systems,2000,30:5-15.
[41]Martin-alvarez A, de Peuter W, Hillebrand J, Putz P, Matthyssen A, de Weerd J F. Walking robots for planetary exploration missions[C]. Second World Automation Congress (WAC'96), Montpellier, France,1996.
[42]Saranli U, Buehler M, Koditschek D. Design, modeling and preliminary control of a compliant hexapod robot. IEEE International Conference on Robotics and Automation[C], San Francisco, CA,2000,2589-2596.
[43]Altendorfer R, Moore N, Komsuoglu H, Buehler M, Brown H B, McMordie D, Saranli U, Full R, Koditschek D E. RHex, A biologically inspired hexapod runner [J]. Autonomous Robots,2001,11:207-213.
[44]Komsuoglu H, Sohn K, Full R J, Koditschek D E. A physical model for dynamical arthropod running on level ground. Proceedings of the 11th International Symposium on Experimental Robotics[C], Athens, Greece,2008:303-317.
[45]Quinn R D, Kingsley D A, Offi J T, Ritzmann r e. improved mobility through abstracted biological principles [C]. IEEE International Conference on Intelligent Robots and Systems (IROS'02), Lausanne, Switzerland,2002.
[46]Quinn R D, Nelson G M, Ritzmann R E, Bachmann R J, Kingsley D A, Offi J T, Allen T J. Parallel strategies for implementing biological principles into mobile robots[J]. International Journal of Robotics Research,2003,22:169-186.
[47]Allen T J, Quinn R D, Bachmann R J, Ritzmann R E. Abstracted biological principles applied with reduced actuation improve mobility of legged vehicles [J]. IEEE International Conference on Intelligent Robots and Systems (IROS'03), Las Vegas, Nevada, USA,2003.
[48]Barthlott W, Neinhuis C. Purity of the sacred lotus, or escape from contamination in biological surfaces[J]. Planta,1997,202:1-8.
[49]Ren L Q, Wang S J, Tian X M, Han Z W, Yan L N, Qiu Z M. Non-smooth morphologies of typical plant leaf surfaces and their anti-adhesion effects [J]. Journal of Bionic Engineering,2007,4:33-40.
[50]Luo B H, Shum P W, Zhou Z F, Li K Y. Preparation of hydrophobic surface on steel by patterning using laser ablation process[J]. Surface & Coatings Technology,2010, 204:1180-1185.
[51]Cardoso M R, Tribuzi V, Balogh D T, Misoguti L, Mendonca C R. Laser micro structuring for fabricating superhydrophobic polymeric surfaces[J]. Applied Surface Science,2011,257:3281-3284.
[52]Kamps S, Ensinger W, Eder F, Berndt A, Zeininger H. Processes and structures for generation of hydrophobic surfaces for large-scale and industrial operations [J]. Applied Surface Science,2009,256S:S92-S95.
[53]Ge H L, Song Y L, Jiang L, Zhu D B. One-step preparation of polystyrene colloidal crystal films with structural colors and high hydrophobicity[J]. Thin Solid Films, 2006,515(4):1539-1543.
[54]蔡柏岐,牛瑶.我国三种蝼蛄的雄性生殖器鉴别[J].昆虫知识,2002,39(2)：152-153.
[55]何忠,陈念丽,席瑞华,等.非洲蝼蛄的鸣声结构及声引诱[J].动物学报,1989,35(1)：73-81.
[56]康乐.我国的”非洲蝼蛄”应为”东方蝼蛄”[J].昆虫知识,1993,30(2)：124-127.
[57]国家中医药管理局《中华本草》编委会.中华本草第九卷[M].上海：上海科学技术出版社,1999：163.
[58]浙江省嘉兴市农业学校.农业昆虫学[M].北京：农业出版社,1980：207-210.
[59]Kidd J. On the anatomy of the mole-cricket[J]. Philosophical Tranasactions of the Royal Society of London,1825,115:203-246.
[60]任露泉,梁云虹.生物耦合功能特性及其实现模式[J].中国科学：技术科学,2010,40(3)：223-230.
[61]康莲娣.生物电子显微技术[M].北京：中国科学技术大学出版社,2003.
[62]Zhao F J, McGrath S P, Crosland A R. Comparison of three wet digestion methods for the determination of plant sulphur by coupled plasma atomic emission spectrometry (ICP-ASE)[J]. Communications in Soil Science and Plant Analysis,1994,25: 407-418.
[63]吉尔W R,范德伯奇G E.耕作和牵引土壤动力学[M].北京：中国农业机械出版社,1983.
[64]任露泉,徐晓波,陈秉聪.典型土壤动物爪趾形态的初步分析[J].农业机械学报,1990,(2)：44-49.
[65]郭志军.土壤深松部件高效节能仿生设计及限元分析[D].长春：吉林大学,2002.
[66]高吭.东方蝼蛄(Gryllotalpa orientalis Burmeister)特征、功能、力学及其仿生分析[D],长春：吉林大学,2009.
[67]Vincent J F V. Arthropod cuticle:A natural composite shell system[J]. Composites: Part A,2002,33:1311-1315.
[68]Vincent J F V. Survival of the cheapest[J]. Materials Today,2002,5 (12):28-41.
[69]Neville A C. Biology of Fibrous Composites, development beyond the cell membrane[M]. Cambridge:Cambridge University Press,1993.
[70]崔福斋,冯庆玲.生物材料学[M].北京：清华大学出版社,1996,82.
[71]Vincent J F V. Holes in biological structures:A neglected resource[J]. Comparative Biochemistry and Physiology B,2000,126:S1-S108.
[72]Wu X Y, Guan F L, Chen B, Wang Y W. Microstructures of the fiber-round hole of the chafer cuticle[J]. Advanced Materials Research,2009,79-82:199-202.
[73]Hillerton J E, Vincent J F V. The specific location of zinc in insect mandibles [J]. Journalof Experimental Biology,1982,101(1):333-336.
[74]Hillerton J E, Robertson B, Vincent J F V. The presence of zinc or manganese as the predominant metal in the mandibles of adult, stored-product beetles [J]. Journal of Stored Products Research,1984,20:133-137.
[75]Morgan T D, Baker P, Kramer K J, Basibuyuk H H, Quicke D L J. Metals in mandibles of stored product insects:do zinc and manganese enhance the ability of larvae to infest seeds?[J]. Journal of Stored Products Research,2003,39:65-75.
[76]李建桥,任露泉,陈秉聪.土壤动物非光滑体表几何单元的统计分析及模拟[J].农业工程学报,1995,11(2)：1-5.
[77]Desutter-Grandcolas L. Comparative morphology of cereal structures in true crickets and their allies(Orthoptera, Ensifera):a phylogenetic perspective[J]. Zoomorphology, 1998,118:235-243.
[78]Miller T A. Review of Physiological Systems in Insects[M]. San Diego:Academic Press,2002.
[79]Mordue W, Goldsworthy G J, Bardy J, Blaney W M. Insect Physiology[M]. Oxford: Blackwell scientific publications,1980.
[80]Andersen S O, Peter M G, Roepstorff P. Cuticular sclerotization in insects[J]. Comparative Biochemistry and Physiology B.1996,113B:689-705.
[81]Vincent J F V. Insect cuticle-a paradigm for natural composites [J]. Symposia of the Societyfor Experimental Biology,1980,34 (2):183-210.
[82]Schmidt J, Kleffmann T, Schaub G A. Hydrophobic attachment of Trypanosoma cruzi to a superficial layer of the rectal cuticle in the bug Triatoma infestans[J]. Parasitol Research.1998,84(7):527-536.
[83]Hepburn H R. Structure of the integument. In:Kerkut G A, et al (eds). Comprehensive Insect Physiology Biochemistry and Pharmacology, Vol.3, Integument, Respiration and Circulation[M]. Oxford:Pergamon Press,1985.
[84]H.韦贝尔.昆虫学纲要[M].北京：高等教育出版社,1982.
[85]蒋挺大.甲壳素[M].北京：中国环境科学出版社,1996.
[86]Richards O W, Davies R G. Imms’General Textbook of Entomology (10th ed)[M], London:Chapman and Hall,1977.
[87]马和中.生物力学导论[M].北京：北京航空学院出版社出版,1986：7-10.
[88]刘凌云,郑光美.普通动物学[M].北京：高等教育出版社,1997：275-276.
[89]Wootton R J, Evans K E, Herbert R, Smith C W. The hind wing of the desert locust [J]. The Journal of Experimental Biology,2000,203,2921-2931.
[90]M.谢尔格,S.戈尔博.微/纳米生物摩擦学[M].北京：机械工业出版社,2004：41-57.
[91]Maladen R D, Ding Y, Li C, Goldman D I. Undulatory swimming in sand:Subsurface locomotion of the Sandfish lizard. Science[J],2009,325:314-317.
[92]钱志辉.人体足部运动的有限元建模及其生物力学功能耦合分析[D],长春：吉林大学,2010,126.
[93]Delcomyn F. The locomotion of the cockroach Periplaneta Americana[J]. Journal of Experimental Biology,1971,54:443-452.
[94]Goslow G E, Seeherman H J, Taylor C R, Me Cutchin M N, Heglund N C. Electrical-activity and relative length changes of dog limb muscles as a function of speed and gait[J]. Journal of Experimental Biology,1981,94:15-42.
[95]Miriam A. Ashley-Ross, Brett F. Bechtel. Kinematics of the transition between aquatic and terrestrial locomotion in the newt Taricha torosa[J]. Journal of Experimental Biology,2004,207:461-474.
[96]Dai Z D, Sun J R. A Biomimetic study of discontinuous-constraint metamorphic mechanism for gecko-like robot[J]. Journal of Bionic Engineering,2007,4:91-95.
[97]Von Buddenbrock, W. V. Der Rhythmus der Schreitbewegungen der Stabheuschrecke Dyxippus[J]. Biologisches Zentralblatt,1921,41:41-48.
[98]McGhee R B, Frank A A. On the stability properties of quadruped creeping gait[J]. Mathematical Biosciences,1968,3:331-351.
[99]Kram R, Wong B, Full R J. Three-dimensional kinematics and limb kinetic energy of running cockroaches [J]. The Journal of Experimental Biology,1997,200:1919-1929.
[100]Goldman D I, Chen T S, Dudek D M, Full R J. Dynamics of rapid vertical climbing in cockroaches reveals a template [J]. Journal of Experimental Biology,2006,209: 2990-3000.
[101]Ritzmanna R E, Quinn R D, Fischer M S. Convergent evolution and locomotion through complex terrain by insects, vertebrates and robots [J]. Arthropod Structure & Development,2004,33:361-379.
[102]Jindrich D L, Full R J. Many-legged maneuver ability:dynamics of turning in hexapods[J]. Journal of Experimental Biology,1999,202:1603-1623.
[103]Fedak M A, Heglund N C, Taylor C R. Energetics and mechanics of terrestrial locomotion. Ⅱ. Kinetic energy changes of the limbs and body as a function of speed and body size in birds and mammals[J]. Journal of Experimental Biology,1982,79: 23-40.
[104]Heglund N C, Cavagna G A, Taylor C R. Energetics and mechanics of terrestrial locomotion. III. Energy changes of the centre of mass as a function of speed and body size in birds and mammals[J]. Journal of Experimental Biology,1982,79,41-56.
[105]Heglund N C, Fedak M A, Taylor C R, Cavagna G A. Energetics and mechanics of terrestrial locomotion. IV. Total mechanical energy changes as a function of speed and body size in birds and mammals[J]. Journal of Experimental Biology,1982,97: 57-66.
[106]Fedak M A, Seeherman H J. Peappraisa of energetics of locomotion shows identical cost in bipeds and quadrupeds including ostrich and horse[J]. Nature,1979,282: 713-716.
[107]Frantsevich L, Wang W Y. Gimbals in the insect leg[J]. Arthropod Structure& Development,2009,38:16-30.
[108]Koren Y. Robotics for Engineers[M]. New York:McGraw-Hill Book Co.,1985.
[109]同济大学.单斗液压挖掘机[M].第二版,北京：中国建筑工业出版社,1986.
[110]王本生.挖掘机自刃型斗齿的设计[J].矿山机械,2000,9：31.
[111]陈再良,李亚兰.矿用挖掘机斗齿的研制[J].矿山机械,1992,9：9-11.
[112]吴秉玉.斗齿材料结构及提高使用寿命的途径[J].矿山机械,1982,12：16-21.
[113]王文彬.挖掘机斗齿材料及提高使用寿命的工艺途径[J].工程机械,1989,5：48-50.
[114]液压挖掘机斗齿分类.中华人民共和国建筑工业行业标准.JG/T 90-1999[S].北京：中国标准出版社,1999.
[115]曹品鲁.潜孔锤冲击挤密钻进机理及挤密钻头的设计与实验研究[D].长春：吉林大学,2007.
[116]郭洪霞.土壤中挤压成孔工作部件的仿生研究[D].长春：吉林大学,2006：66-70.
[117]Mouazen A M, Nemenyi M. Tillage tool design by the finite element method:part 1, finite element modelling of soil plastic behaviour[J]. Journal of Agriculture Engineerng Research,1999,72(1):37-51.