Tight turns in stick insects

We investigated insects Carausius morosus walking whilst hanging upside down along a narrow 3 mm horizontal beam. At the end of the beam, the animal takes a 180° turn. This is a difficult situation because substrate area is small and moves relative to the body during the turn. We investigated how leg movements are organised during this turn. A non-contact of either front leg appears to indicate the end of the beam. However, a turn can only begin if the hind legs stand in an appropriate position relative to each other; the outer hind leg must not be placed posterior to the inner hind leg. When starting the turn, both front legs are lifted and usually held in a relatively stable position and then the inner middle leg performs a swing-and-search movement: The leg begins a swing, which is continued by a searching movement to the side and to the rear, and eventually grasps the beam. At the same time the body is turned usually being supported by the outer middle leg and both hind legs. Then front legs followed by the outer middle leg reach the beam. A scheme describing the turns based on a few simple behavioural elements is proposed.     

Dynamic simulation of insect walking

Insect walking relies on a complex interaction between the environment, body segments, muscles and the nervous system. For the stick insect in particular, previous investigations have highlighted the role of specific sensory signals in the timing of activity of central neural networks driving the individual leg joints. The objective of the current study was to relate specific sensory and neuronal mechanisms, known from experiments on reduced preparations, to the generation of the natural sequence of events forming the step cycle in a single leg. We have done this by simulating a dynamic 3D-biomechanical model of the stick insect coupled to a reduced model of the neural control system, incorporating only the mechanisms under study. The neural system sends muscle activation levels to the biomechanical system, which in turn provides correctly timed propriosensory signals back to the neural model. The first simulations were designed to test if the currently known mechanisms would be sufficient to explain the coordinated activation of the different leg muscles in the middle leg. Two experimental situations were mimicked: restricted stepping where only the coxa-trochanteral joint and the femur-tibia joint were free to move, and the unrestricted single leg movements on a friction-free surface. The first of these experimental situations is in fact similar to the preparation used in gathering much of the detailed knowledge on sensory and neuronal mechanisms. The simulations show that the mechanisms included can indeed account for the entire step cycle in both situations. The second aim was to test to what extent the same sensory and neuronal mechanisms would be adequate also for controlling the front and hind legs, despite the large differences in both leg morphology and kinematic patterns. The simulations show that front leg stepping can be generated by basically the same mechanisms while the hind leg control requires some reorganization. The simulations suggest that the influence from the femoral chordotonal organs on the network controlling levation-depression may have a reversed effect in the hind legs as compared to the middle and front legs. This, and other predictions from the model will have to be confirmed by additional experiments.     

Walking in the American cockroach: the timing of motor activity in the legs during straight walking

The timing of bursts of motor activity in extensor muscles in the coxae of pairs of legs in intact freely walking American cockroaches was studied. The timing of bursts in adjacent and non-adjacent leg pairs generally reflected the common alternating tripod gait of these insects. Detailed study of the timing further revealed two previously unreported features. (1) The timing of extensor bursts in the middle legs relative to bursts in the rear legs was more variable than it was relative to those in the front legs. This difference in variability was statistically significant for the means of bursts when all insects were considered together as well as for bursts in individual insects. An apparent difference in variability of the timing of burst starts compared to burst ends for any one leg pair was not significant. (2) There was a shift in the timing of motor bursts relative to one another when an insect walked fast such that motor bursts in the middle legs tended to lag farther behind those in the front legs, and those in the rear legs tended to lag farther behind those in the middle legs compared to the timing during slow walking. This shift was apparent in both burst starts and burst ends, although more obvious in the former. It occurred in both ipsilateral and contralateral leg pairs, and in both the mean data and the data for individual insects. The implications of these characteristics of the timing data are discussed in terms of the neural organization of insect walking.     

The effect of amputation and leg restraint on the free walking coordination of the stick insectCarausius morosus

Summary The stepping patterns of intact, amputated and leg restrained first instar stick insects were examined by analysing video tape records of their free walking behaviour. Amputation produced changes in the relative timing of protraction movements both along and across the body axis. Restraint of individual front or rear legs produced walking behaviour similar to that of the amputee animal but restraint of middle legs caused a breakdown in the coordination of front and rear legs. The changes in behaviour produced by leg autotomy and restraint were used to test certain assumptions of a model for generating the step pattern of these insects and to investigate how the tonic influence of proprioceptive input might be incorporated into the model.I would like to thank Professor P.N.R. Usherwood and Drs. M.D. Burns and W.J.P. Barnes for their comments and ideas on this work. A special acknowledgement goes to Dr. F. Delcomyn whose Fortran step analysis programs assisted greatly in the data reduction. I wish to thank S.R.C. for a returning scientist award and the support and equipment provided by grant B/SR/9774 to Professor Usherwood. A preliminary survey of some of the amputees was carried out at the Biology Department, Case Western Reserve University and I would like to acknowledge the support provided by a P.H.S. grant NB-06054 to Professor R.K. Josephson.     

Sexual selection,phenotypic variation,and allometry in genitalic and non‐genitalic traits in the sexually size‐dimorphic stick insect Micrarchus hystriculeus

The mobility hypothesis could explain the evolution of female‐biased size dimorphism if males with a smaller body size and longer legs have an advantage in scramble competition for mates. This hypothesis is tested by performing a selection analysis in the wild on Micrarchus hystriculeus (Westwood) (Phasmatodea), a sexually size dimorphic stick insect endemic to New Zealand. This analysis examined the form and strength of sexual selection on body size, leg lengths (front, mid and hind), and clasper size (a genitalic trait), and also quantified the degree of phenotypic variation and the allometric scaling pattern of these traits. By contrast to the mobility hypothesis, three lines of evidence were found to support significant stabilizing sexual selection on male hind leg length: a significant nonlinear selection gradient, negative static allometry, and a low degree of phenotypic variation. Hind leg length might be under stabilizing selection in males if having average‐sized legs facilitates female mounting or improves a male's ability to achieve the appropriate copulation position. As predicted, a negative allometric scaling pattern and low phenotypic variation of clasper size is suggestive of stabilizing selection and supports the ‘one‐size‐fits‐all’ hypothesis. Opposite to males, the mid and hind leg lengths of females showed positive static allometry. Relatively longer mid and hind leg lengths in larger females might benefit individuals via the better support of their larger abdomens. © 2014 The Linnean Society of London, Biological Journal of the Linnean Society, 2014, 113 , 471–484.     

Rotational locomotion by the cockroach Blattella germanica

Locomotion on complex substrata can be expressed in a plane by two geometric components of body movement: linear locomotion and rotational locomotion. This study examined pure rotation by analysing the geometry of leg movements and stepping patterns during the courtship turns of male Blattella germanica. Strict rotation or translation by an insect requires that each side of the body cover equal distance with respect to the substrate. There are three mechanisms by which the legs can maintain this equality: frequency of stepping, magnitude of the leg arcs relative to the body and the degree to which legs flex and extend during locomotion. During the courtship behaviour of Blattella germanica selected males executed turns involving body rotation along with leg movements in which the legs on the outside of the turn swung through greater average arcs than those on the inside of the turn. This difference should have resulted in a translation component. However, legs on the inside of the turn compensated by flexion and extension movements which were greater than those of opposing legs. The net effect was that both sides of the body covered equal average ground. These cockroaches used a wide variety of stepping combinations to effect rotation. The frequency of these combinations was compared to an expected frequency distribution of stepping combinations and further to an expected frequency of these stepping combinations used for straight walking. These comparisons demonstrated a similarity between interleg coordination during straight walking and that during turning in place.     

Mechanisms of stick insect locomotion in a gap-crossing paradigm

Locomotion of stick insects climbing over gaps of more than twice their step length has proved to be a useful paradigm to investigate how locomotor behaviour is adapted to external conditions. In this study, swing amplitudes and extreme positions of single steps from gap-crossing sequences have been analysed and compared to corresponding parameters of undisturbed walking. We show that adaptations of the basic mechanisms concern movements of single legs as well as the coordination between the legs. Slowing down of stance velocity, searching movements of legs in protraction and the generation of short steps are crucial prerequisites in the gap-crossing task. The rules of leg coordination described for stick insect walking seem to be modified, and load on the supporting legs is assumed to have a major effect on coordination especially in slow walking. Stepping into the gap with a front leg and antennal contact with the far edge of the gap provide information, as both events influence the following leg movements, whereas antennal non-contact seems not to contain information. Integration of these results into the model of the walking controller can improve our understanding of insect locomotion in highly irregular environments.Abbreviations AEP anterior extreme position - fAEP fictive anterior extreme position - PEP posterior extreme position - TOT treading-on-tarsus     

Ants swimming in pitcher plants: kinematics of aquatic and terrestrial locomotion in Camponotus schmitzi

Camponotus schmitzi ants live in symbiosis with the Bornean pitcher plant Nepenthes bicalcarata. Unique among ants, the workers regularly dive and swim in the pitcher's digestive fluid to forage for food. High-speed motion analysis revealed that C.?schmitzi ants swim at the surface with all legs submerged, with an alternating tripod pattern. Compared to running, swimming involves lower stepping frequencies and larger phase delays within the legs of each tripod. Swimming ants move front and middle legs faster and keep them more extended during the power stroke than during the return stroke. Thrust estimates calculated from three-dimensional leg kinematics using a blade-element approach confirmed that forward propulsion is mainly achieved by the front and middle legs. The hind legs move much less, suggesting that they mainly serve for steering. Experiments with tethered C.?schmitzi ants showed that characteristic swimming movements can be triggered by submersion in water. This reaction was absent in another Camponotus species investigated. Our study demonstrates how insects can use the same locomotory system and similar gait patterns for moving on land and in water. We discuss insect adaptations for aquatic/amphibious lifestyles and the special adaptations of C.?schmitzi to living on an insect-trapping pitcher plant.     

Dominance of local sensory signals over inter-segmental effects in a motor system: experiments

Legged locomotion requires that information local to one leg, and inter-segmental signals coming from the other legs are processed appropriately to establish a coordinated walking pattern. However, very little is known about the relative importance of local and inter-segmental signals when they converge upon the central pattern generators (CPGs) of different leg joints. We investigated this question on the CPG of the middle leg coxa?Ctrochanter (CTr)-joint of the stick insect which is responsible for lifting and lowering the leg. We used a semi-intact preparation with an intact front leg stepping on a treadmill, and simultaneously stimulated load sensors of the middle leg. We found that middle leg load signals induce bursts in the middle leg depressor motoneurons (MNs). The same local load signals could also elicit rhythmic activity in the CPG of the middle leg CTr-joint when the stimulation of middle leg load sensors coincided with front leg stepping. However, the influence of front leg stepping was generally weak such that front leg stepping alone was only rarely accompanied by switching between middle leg levator and depressor MN activity. We therefore conclude that the impact of the local sensory signals on the levator?Cdepressor motor system is stronger than the inter-segmental influence through front leg stepping.     

Motor output to the protractor and retractor coxae muscles in stick insects walking on a treadwheel

ABSTRACT. The motor output to the protractor and retractor mucles moving the coxa of the middle leg of Carausius morosus was recorded from the thoracic nerves during walking on a treadwheel. The leg movements on the wheel were generally similar to those found in free-walking animals, but tripod coordination was relatively independent of period, and the coordination of the adult animal on the wheel was most closely related to that found in free-walking first instars. The activity of a common inhibitor and four excitatory axons of the retractor and an excitatory axon of the protractor were followed for 850 steps (in six animals) to give a summary of the behaviour of the different units. The motor activity is less stereotyped than that previously reported for insects. There was strong reciprocity between the antagonists, but this was not directly correlated with the forward and backward movements of the legs. The first part of the stance phase of the leg was accompanied by a strong burst in the protractor nerve and relatively little retractor activity. This was followed by the main retractor burst which occupied the last 60% of the stance phase. The results are compared with motor output records of the locust and with earlier force-plate measurements on the stick insect. It must be concluded that the mesothoracic leg initially resists forward movement of the body by the other legs during a typical walking step.     

Identified nonspiking interneurons in leg reflexes and during walking in the stick insect

In the stick insect Carausius morosus identified nonspiking interneurons (type E4) were investigated in the mesothoracic ganglion during intraand intersegmental reflexes and during searching and walking.In the standing and in the actively moving animal interneurons of type E4 drive the excitatory extensor tibiae motoneurons, up to four excitatory protractor coxae motoneurons, and the common inhibitor 1 motoneuron (Figs. 1–4).In the standing animal a depolarization of this type of interneuron is induced by tactile stimuli to the tarsi of the ipsilateral front, middle and hind legs (Fig. 5). This response precedes and accompanies the observed activation of the affected middle leg motoneurons. The same is true when compensatory leg placement reflexes are elicited by tactile stimuli given to the tarsi of the legs (Fig. 6).During forward walking the membrane potential of interneurons of type E4 is strongly modulated in the step-cycle (Figs.8–10). The peak depolarization occurs at the transition from stance to swing. The oscillations in membrane potential are correlated with the activity profile of the extensor motoneurons and the common inhibitor 1 (Fig. 9).The described properties of interneuron type E4 in the actively behaving animal show that these interneurons are involved in the organization and coordination of the motor output of the proximal leg joints during reflex movements and during walking.Abbreviations CLP reflex, compensatory leg placement reflex - CI1 common inhibitor I motoneuron - fCO femoral chordotonal organ - FETi fast extensor tibiae motoneuron - FT femur-tibia - SETi slow extensor tibiae motoneuron     

Mass-induced oscillations in the femur-tibia control system of stick insects

Attaching an inert mass to a freely moving tibia of an otherwise fixed stick insect Carausius morosus, induces undamped oscillations of the tibia. We describe the use of a rotational pendulum to observe these oscillations applying various amounts of inertia. The dependence of the frequency of these oscillations on the moment of inertia is similar to that of a purely mechanical system. The sequence of the oscillatory behavior can be separated into 3 distinct behavioural states. The transitions between some of these states could be elicited by external stimuli and partly showed characteristics of habituation and dishabituation. With a rotational pendulum on each middle leg, simultaneous oscillations of both legs were measured to investigate coupling effects between the neural control systems of the two legs. In some cases, significant coupling effects could be observed in phase and frequency. In many other cases, no coupling was found. The habituation and dishabituation effects were not transferred between the middle legs.     

Variability of femoral chordotonal organ reflexes in the locust, Locusts miaratoria

Abstract. The femoral chordotonal organ of a locust front, middle or hind leg was stimulated mechanically under open-loop conditions and the forces produced by the muscles moving the tibia were measured. In nearly all cases resistance reflexes were elicited in the inactive animal. However, in rare, but reproducible cases, a positive feedback occurred. In an animal performing active movements the responses were very labile: often no response occurred, sometimes a reaction comparable to the active reaction in stick insects was found, and sometimes resistance reflexes were present.     

Common motor mechanisms support body load in serially homologous legs of cockroaches in posture and walking

We studied the mechanisms underlying support of body load in posture and walking in serially homologous legs of cockroaches. Activities of the trochanteral extensor muscle in the front or middle legs were recorded neurographically while animals were videotaped. Body load was increased via magnets attached to the thorax and varied through a coil below the substrate. In posture, tonic firing of the slow trochanteral extensor motoneuron (Ds) in each leg was strongly modulated by changing body load. Rapid load increases produced decreases in body height and sharp increments in extensor firing. The peak of extensor activity more closely approximated the maximum velocity of body displacement than the body position. In walking, extensor bursts in front and middle legs were initiated during swing and continued into the stance phase. Moderate tonic increases in body load elicited similar, specific, phase dependent changes in both legs: extensor firing was not altered in swing but was higher after foot placement in stance. These motor adjustments to load are not anticipatory but apparently depend upon sensory feedback. These data are consistent with previous findings in the hind legs and support the idea that body load is countered by common motor mechanisms in serially homologous legs.     

Influence of loading parallel to the body axis on the walking coordination of an insect

It is often reported in the early literature that insects walk with the legs protacting in diagonal pairs rather than the triplet of three legs associated with the tripod step pattern. The diagonal pattern implies that legs of the same segment have a phase relationship significantly different from 0.5. Such a pattern of leg recovery has been demonstrated quantitatively for the stick insect (Graham, 1972). Such patterns occur in several insects and systematic asymmetry can even be detected in the earliest quantitative study on cockroaches (Hughes, 1957) when the animals are walking slowly. More recently Spirito and Mushrush (1979) have reported systematic deviations from a phase of 0.5 similar to those observed in stick insects. Asymmetry has also been quantitatively demonstrated in Katydids (Graham, 1978) and has recently been observed in Mantid walking (Thomson, personal communication). This phenomenon seems to be a general characteristic of slow walking coordination in insects. In stick insects asymmetry only becomes obvious in gait II at slow speeds although there can be systematic differences in ipsilateral coordination on right and left sides even at the highest speeds in this gait (Graham, 1972).     

Motor neurone responses during a postural reflex in solitarious and gregarious desert locusts

Desert locusts show extreme phenotypic plasticity and can change reversibly between two phases that differ radically in morphology, physiology and behaviour. Solitarious locusts are cryptic in appearance and behaviour, walking slowly with the body held close to the ground. Gregarious locusts are conspicuous in appearance and much more active, walking rapidly with the body held well above the ground. During walking, the excursion of the femoro-tibial (F-T) joint of the hind leg is smaller in solitarious locusts, and the joint is kept more flexed throughout an entire step. Under open loop conditions, the slow extensor tibiae (SETi) motor neurone of solitarious locusts shows strong tonic activity that increases at more extended F-T angles. SETi of gregarious locusts by contrast showed little tonic activity. Simulated flexion of the F-T joint elicits resistance reflexes in SETi in both phases, but regardless of the initial and final position of the leg, the spiking rate of SETi during these reflexes was twice as great in solitarious compared to gregarious locusts. This increased sensory-motor gain in the neuronal networks controlling postural reflexes in solitarious locusts may be linked to the occurrence of pronounced behavioural catalepsy in this phase similar to other cryptic insects such as stick insects.     

Kinematics and motor activity during tethered walking and turning in the cockroach, <Emphasis Type="Italic">Blaberus discoidalis</Emphasis>

When insects turn from walking straight, their legs have to follow different motor patterns. In order to examine such pattern change precisely, we stimulated single antenna of an insect, thereby initiating its turning behavior, tethered over a lightly oiled glass plate. The resulting behavior included asymmetrical movements of prothoracic and mesothoracic legs. The mesothoracic leg on the inside of the turn (in the apparent direction of turning) extended the coxa-trochanter and femur-tibia joints during swing rather than during stance as in walking, while the outside mesothoracic leg kept a slow walking pattern. Electromyograms in mesothoracic legs revealed consistent changes in the motor neuron activity controlling extension of the coxa-trochanter and femur-tibia joints. In tethered walking, depressor trochanter activity consistently preceded slow extensor tibia activity. This pattern was reversed in the inside mesothoracic leg during turning. Also for turning, extensor and depressor motor neurons of the inside legs were activated in swing phase instead of stance. Turning was also examined in free ranging animals. Although more variable, some trials resembled the pattern generated by tethered animals. The distinct inter-joint and inter-leg coordination between tethered turning and walking, therefore, provides a good model to further study the neural control of changing locomotion patterns.     

Behaviour-based modelling of hexapod locomotion: linking biology and technical application

Walking in insects and most six-legged robots requires simultaneous control of up to 18 joints. Moreover, the number of joints that are mechanically coupled via body and ground varies from one moment to the next, and external conditions such as friction, compliance and slope of the substrate are often unpredictable. Thus, walking behaviour requires adaptive, context-dependent control of many degrees of freedom. As a consequence, modelling legged locomotion addresses many aspects of any motor behaviour in general. Based on results from behavioural experiments on arthropods, we describe a kinematic model of hexapod walking: the distributed artificial neural network controller walknet. Conceptually, the model addresses three basic problems in legged locomotion. (I) First, coordination of several legs requires coupling between the step cycles of adjacent legs, optimising synergistic propulsion, but ensuring stability through flexible adjustment to external disturbances. A set of behaviourally derived leg coordination rules can account for decentralised generation of different gaits, and allows stable walking of the insect model as well as of a number of legged robots. (II) Second, a wide range of different leg movements must be possible, e.g. to search for foothold, grasp for objects or groom the body surface. We present a simple neural network controller that can simulate targeted swing trajectories, obstacle avoidance reflexes and cyclic searching-movements. (III) Third, control of mechanically coupled joints of the legs in stance is achieved by exploiting the physical interactions between body, legs and substrate. A local positive displacement feedback, acting on individual leg joints, transforms passive displacement of a joint into active movement, generating synergistic assistance reflexes in all mechanically coupled joints.     

A mathematical modeling study of inter-segmental coordination during stick insect walking

The biomechanical conditions for walking in the stick insect require a modeling approach that is based on the control of pairs of antagonistic motoneuron (MN) pools for each leg joint by independent central pattern generators (CPGs). Each CPG controls a pair of antagonistic MN pools. Furthermore, specific sensory feedback signals play an important role in the control of single leg movement and in the generation of inter-leg coordination or the interplay between both tasks. Currently, however, no mathematical model exists that provides a theoretical approach to understanding the generation of coordinated locomotion in such a multi-legged locomotor system. In the present study, I created such a theoretical model for the stick insect walking system, which describes the MN activity of a single forward stepping middle leg and helps to explain the neuronal mechanisms underlying coordinating information transfer between ipsilateral legs. In this model, CPGs that belong to the same leg, as well as those belonging to different legs, are connected by specific sensory feedback pathways that convey information about movements and forces generated during locomotion. The model emphasizes the importance of sensory feedback, which is used by the central nervous system to enhance weak excitatory and inhibitory synaptic connections from front to rear between the three thorax-coxa-joint CPGs. Thereby the sensory feedback activates caudal pattern generation networks and helps to coordinate leg movements by generating in-phase and out-of-phase thoracic MN activity.     

The control of walking movements in the leg of the rock lobster

1. Experiments with rock lobsters walking on a treadmill were undertaken to obtain information upon the system controlling the movement of the legs. Results show that the position of the leg is an important parameter affecting the cyclic movement of the walking leg. Stepping can be interrupted when the geometrical conditions for terminating either a return stroke or a power stroke are not fullfilled. 2. The mean value of anterior and posterior extreme positions (AEP and PEP respectively) of the walking legs do not depend on the walking speed (Fig. 1). 3. When one leg is isolated from the other walking legs by placing it on a platform the AEPs and PEPs of the other legs show a broader distribution compared to controls (Figs. 2 and 3). 4. Force measurements (Fig. 4) are in agreement with the hypothesis that the movement of the leg is controlled by a position servomechanism. 5. When one leg stands on a stationary force transducer this leg develops forces which oscillate with the step rhythm of the other legs (Fig. 5). 6. A posteriorly directed influence is found, by which the return stroke of a leg can be started when the anterior leg performs a backward directed movement. 7. Results are compared with those obtained from stick insects. The systems controlling the movement of the individual leg are similar in both, lobster and stick insect but the influences between the legs seem to be considerably different.