标题： 自然界的全能选手：受屎壳郎启发的多功能机器人 显示英文标题

标题： Nature's All-in-One: Multitasking Robots Inspired by Dung Beetles

摘要： 蜣螂令人印象深刻地协调它们的六条腿同时滚动大型粪球。 它们还能在不同地形上滚动重量不同的粪球。 它们如何适应在不同条件下行走和同时滚动球（多任务行为）背后的机制仍然未知。 因此，本研究揭示了蜣螂滚动粪球并将腿部运动适应于在不同地形上稳定滚动球的机制，为多任务机器人提供了指导。 我们综合了一种基于模块化神经的步态操作控制方法，该方法受到并且基于对蜣螂滚球行为的生态学观察。 所提出的基于神经的控制包含了各种神经模块，包括中央模式生成器（CPG）模块、模式形成网络（PFN）模块和机器人定向控制（ROC）模块。 集成的神经控制机制能够成功地控制一个具有生物力学脚的蜣螂仿生机器人（ALPHA），使其在各种地形（平坦和不平坦）上执行自适应稳健的（多任务）步态操作（行走和滚球）。 它还可以处理不同的球重量（2.0和4.6千克）和球类型（软和硬）。 这些控制机制可以作为解决多任务机器人复杂感觉-运动协调问题的指导原则。 此外，本研究通过增强我们对动物复杂适应性（多任务）步态操作行为的感觉-运动协调科学理解，为生物学研究做出了贡献。 显示英文摘要

摘要： Dung beetles impressively coordinate their six legs simultaneously to effectively roll large dung balls. They are also capable of rolling dung balls varying in the weight on different terrains. The mechanisms underlying how their motor commands are adapted to walk and simultaneously roll balls (multitasking behavior) under different conditions remain unknown. Therefore, this study unravels the mechanisms of how dung beetles roll dung balls and adapt their leg movements to stably roll balls over different terrains for multitasking robots. We synthesize a modular neural-based loco-manipulation control inspired by and based on ethological observations of the ball-rolling behavior of dung beetles. The proposed neural-based control contains various neural modules, including a central pattern generator (CPG) module, a pattern formation network (PFN) module, and a robot orientation control (ROC) module. The integrated neural control mechanisms can successfully control a dung beetle-like robot (ALPHA) with biomechanical feet to perform adaptive robust (multitasking) loco-manipulation (walking and ball-rolling) on various terrains (flat and uneven). It can also deal with different ball weights (2.0 and 4.6 kg) and ball types (soft and rigid). The control mechanisms can serve as guiding principles for solving complex sensory-motor coordination for multitasking robots. Furthermore, this study contributes to biological research by enhancing our scientific understanding of sensory-motor coordination for complex adaptive (multitasking) loco-manipulation behavior in animals.