“How pendulum‐like are siamangs? energy exchange during brachiation”

Hylobatidae (gibbons and siamangs) are known for their brachiation skills. The comparison of brachiation with a pendulum is made several times in the literature, and the costs and benefits of being pendulum-like are well described. However, the amount of energy exchange during brachiation of gibbons has rarely been determined. In this study, the amount of energy recovery (ER) during brachiation is assessed for three siamangs in a seminatural environment. The animals were recorded by four cameras while voluntarily brachiating on three different setups. The effects of locomotion speed, brachiation type, and setup on ER as well as on the external mechanical work during brachiation are determined. It is hypothesized that the amount of ER decreases with an increasing setup complexity while the external mechanical work increases. Additionally, we expect that support arm kinematics will be adjusted according to spatial complexity in order to maintain high recovery percentages. Our results show that ER is mainly determined by brachiation speed. Regardless of type of brachiation or setup, brachiation is done with a lower ER when brachiating faster. Within our limited range of setup variation, the expected effect of increasing complexity is not found. Although there is significant variation in support arm joint angles, no clear relation with speed, brachiation type, or setup is observed.     

The problems of the Pliopithecidae as a hylobatid ancestor

Various members of the Pliopithecidae (Pliopithecus, Laccopithecus) and the Proconsulidae (Micropithecus, Dendropithecus, Limnoputhecus, Dionysopithecus, and Platdontopithecus) have been proposed as the ancestral hylobatid (gibbon), based largely on small size and simple-cusped, ape-like molars. However, this ignores evidence presented in early anatomical studies of living brachiating primates. All apes and several South American monkeys show structural anatomical adaptations for brachiation. The Pliopithecidae show some ceboid-like features in the hindlimb which suggest that this genus may have been partly suspensory and possibly comparable to spider monkeys, but without a prehensile tail. They were basically arboreal quadrupedal monkeys without any of the brachiator specializations. Large bodied apes add more traits in order to handle great weight. Among the small-bodied brachiators, only the hylobatids possess these large-brachiator traits. Such modifications serve no purpose other than to support a weight greater than 30 kg. The hylobatid gestation time and longevity are also characteristic only of much larger animals. The ancestral gibbon must have been among the large-bodied sivapithecines. This relationship is supported by body size, geography, and biochemical timing (pliopithecids were probably a distinct lineage in the late Oligocene). If a memeber of the Pliopithecidae were the ancestor of extant hylobatids, it would have had to have grown large, became adapted to brachiation, and then grown small again.Laccopithecus has been newly proposed as the ancestral gibbon. If it is not a member of the pliopithecids, with an age of less than 8 mya, then it could be a fossil hylobatid. It would have had to have separated from the Asian great ape line approximately 15 mya, developed full brachiation, and undergone a reduction in body size and dental sexual dimorphism.     

Mechanisms of force and power production in unsteady ricochetal brachiation

Brachiators travel by swinging beneath handholds, and it is not obvious how these animals manage to accelerate and decelerate in a horizontal direction, especially when moving rapidly. Most previous analyses focused on brachiation in highly constrained laboratory conditions that induced steady-state locomotion. Emerging understanding of brachiation suggests that much of gibbon locomotory behavior and morphology must be considered within the context of the complexities of the natural environment: the forest canopy is three-dimensional, with high variation in handhold availability and properties. The goal of this paper is to quantify the active mechanisms by which gibbons can dynamically control their velocity.Force production and kinematics were analyzed from a white-handed gibbon Hylabates lar during ricochetal brachiation. Both the mechanisms of force production and power input may be inferred for accelerating and decelerating brachiation by combining force data with kinematics. Examples of steady-state, accelerating, and decelerating ricochetal brachiation are highlighted.Gibbons are able to produce net horizontal impulses by releasing early (resulting in a loss of potential energy, but an accelerating horizontal impulse) or delaying release (associated with an increase in potential energy, and a decelerating horizontal impulse).Torque about the shoulder, leg-lifting (or dropping), and elbow flexing (or straightening) are discussed as potential mechanisms for controlling energy within the brachiating system. Of these possibilities, leg-lifting and arm-flexing were observed as mechanisms of adding mechanical energy. Net energy loss, and substantial torques about the shoulder, were not observed.     

Pendular motion in the brachiation of captive Lagothrix and Ateles

Pendular motion during brachiation of captive Lagothrix lagothricha lugens and Ateles fusciceps robustus was analyzed to demonstrate similarities, and differences, between these two closely related large bodied atelines. This is the first captive study of the kinematics of brachiation in Lagothrix. Videorecordings of one adult male of each species were made in a specially designed cage constructed at the DuMond Conservancy/Monkey Jungle, Miami, FL. Java software (Jandel Scientific Inc., San Rafael, CA) was used for frame‐by‐frame kinematic analysis of individual strides/steps. Results demonstrate that the sequence of hand and tail contacts differ significantly between the two species with Lagothrix using a new tail hold with every hand hold, while Ateles generally utilizes a new tail hold with only every other hand hold. Stride length and stride frequency, even after adjusting for limb length, also differ significantly between the two species. Lagothrix brachiation utilizes short, choppy strides with quick hand holds, while Ateles uses long, fluid strides with longer hand holds. During brachiation not only is Lagothrix's body significantly less horizontal than that of Ateles but also, within Ateles, there are significant differences between steps depending on tail use. Because of the unique nature of tail use in Ateles, many aspects of body positioning in Lagothrix more closely resemble Ateles steps without a simultaneous tail hold rather than those with one. Overall pendulum length in Lagothrix is shorter than in Ateles. Tail use in Ateles has a significant effect on maximum pendulum length during a step. Although neither species achieves the extreme pendulum effect and long period of free‐flight of hylobatids in fast ricochetal brachiation, in captivity both consistently demonstrate effective brachiation with brief periods of free‐flight and pendular motion. Morphological similarities between ateline brachiators and hylobatids are fewer and less pronounced in Lagothrix than in Ateles. This study demonstrates that Lagothrix brachiation is also less hylobatid‐like than that of Ateles. Am. J. Primatol. 48:263–281, 1999. © 1999 Wiley‐Liss, Inc.     

External forces and torques generated by the brachiating white-handed gibbon (Hylobates lar)

We compared the kinetics of brachiation to bipedal walking and running. Gibbons use pectoral limbs in continuous contact with their overhead support at slow speeds, but exhibit aerial phases (or ricochetal brachiation) at faster speeds. This basic interaction between limb and support suggests some analogy to walking and running. We quantified the forces in three axes and torque about the vertical axis generated by a brachiating White-handed gibbon (Hylobates lar) and compared them with bipedal locomotion. Handholds oriented perpendicular to the direction of travel (as in ladder rungs) were spaced 0.80, 1.20, 1.60, 1.72, 1.95, and 2.25 m apart. The gibbon proportionally matched forward velocity to stride length. Handhold reaction forces resembled ground reaction forces of running humans except that the order of horizontal braking and propulsion were reversed. Peak vertical forces in brachiation increased with speed as in bipedal locomotion. In contrast to bipedalism, however, peak horizontal forces changed little with speed. Gait transition occurred within the same relative velocity range as the walk-run transition in bipeds (Froude number = 0.3-0.6). We oriented handholds parallel to the direction of travel (as in a continuous pole) at 0.80 and 1.60 m spacings. In ricochetal brachiation, the gibbon generated greater torque with handholds oriented perpendicular as opposed to parallel to the direction of travel. Handhold orientation did not affect peak forces. The similarities and differences between brachiation and bipedalism offer insight into the ubiquity of mechanical principles guiding all limbed locomotion and the distinctiveness of brachiation as a unique mode of locomotion.     

Tuataras and salamanders show that walking and running mechanics are ancient features of tetrapod locomotion

The lumbering locomotor behaviours of tuataras and salamanders are the best examples of quadrupedal locomotion of early terrestrial vertebrates. We show they use the same walking (out-of-phase) and running (in-phase) patterns of external mechanical energy fluctuations of the centre-of-mass known in fast moving (cursorial) animals. Thus, walking and running centre-of-mass mechanics have been a feature of tetrapods since quadrupedal locomotion emerged over 400 million years ago. When walking, these sprawling animals save external mechanical energy with the same pendular effectiveness observed in cursorial animals. However, unlike cursorial animals (that change footfall patterns and mechanics with speed), tuataras and salamanders use only diagonal couplet gaits and indifferently change from walking to running mechanics with no significant change in total mechanical energy. Thus, the change from walking to running is not related to speed and the advantage of walking versus running is unclear. Furthermore, lumbering mechanics in primitive tetrapods is reflected in having total mechanical energy driven by potential energy (rather than kinetic energy as in cursorial animals) and relative centre-of-mass displacements an order of magnitude greater than cursorial animals. Thus, large vertical displacements associated with lumbering locomotion in primitive tetrapods may preclude their ability to increase speed.     

A mechanical link model of two-toed sloths: no pendular mechanics during suspensory locomotion

Sloths are morphologically specialized in suspensory quadrupedal locomotion and posture. During steady-state locomotion they utilize a trot-like footfall sequence. Contrasting the growing amount of published accounts of the functional morphology and kinematics of sloth locomotion, no study concerned with the dynamics of their quadrupedal suspensory locomotion has been conducted. Brachiating primates have been shown to travel at low mechanical costs using pendular mechanics, but this is associated with considerable dynamic forces exerted onto the support. To test whether sloth locomotion can be described by simple connected pendulum mechanics, we analyzed the dynamics of sloth locomotion with use of a mechanical segment link model. The model integrates the body segment parameters and is driven by kinematic data with both segment parameters and kinematic data obtained from the same sloth individual. No simple pendular mechanics were present. We then used the model to carry out an inverse dynamic analysis. The analysis allowed us to estimate net limb joint torques and substrate reaction forces during the contact phases. Predominant flexing limb joint torque profiles in the shoulder, elbow, hip, and knee are in stark contrast to published dominant extensor torques in the limb joints of pronograde quadrupedal mammals. This dissimilarity likely reflects the inverse orientation of the sloth towards the gravity vector. Nevertheless, scapular pivot and shoulder seem to provide the strongest torque for progression as expected based on unchanged basic kinematic pattern previously described. Our model predicts that sloths actively reduce the dynamical forces and moments that are transmitted onto the support. We conclude that these findings reflect the need to reduce the risk of breaking supports because in this case sloths would likely be unable to react quickly enough to prevent potentially lethal falls. To achieve this, sloths seem to avoid the dynamical consequences of effective pendular mechanics.     

Brief communication: Three‐dimensional motion analysis of hindlimb during brachiation in a white‐handed gibbon (Hylobates lar)

In brachiating gibbons, it is thought that there is little movement in the hindlimb joints and that lateral body movement is quite limited. These hypotheses are based on naked‐eye observations, and no quantitative motion analyses of the hindlimbs have been reported. This study quantitatively describes the three‐dimensional movements of the lower trunk and distal thigh during continuous‐contact brachiation in a white‐handed gibbon (Hylobates lar) to evaluate the roles of the trunk and hindlimb. The results revealed that the lower trunk moved both laterally and vertically. The lateral movement of the lower trunk resulted from the lateral inclination of the trunk by gravity. The vertical movement of the trunk was converted into forward velocity, indicating an exchange between potential and kinetic energy. We also observed flexion and extension of the hip, although the excursion was within a small range. In addition, the lateral movement of the hindlimb in thedirection opposite to that of trunk movement helped to reduce the lateral sway of the body. These results suggest that during continuous‐contact brachiation a gibbon uses hip flexion and extension motions to increase the kinetic energy in the swing. In addition, fine motions of the hip may restrict the lateral sway of the center of body mass. Am J Phys Anthropol 142:650–654, 2010. © 2010 Wiley‐Liss, Inc.     

Preliminary electromyographical analysis of brachiation in gibbon and spider monkey

In order to refine the concept of brachiation as a locomotor mode and to examine the complex relationship between locomotor behavior and muscle morphology, we have undertaken a telemetered electromyographic (EMG) analysis of muscle recruitment in brachiating gibbons (Hylobates lar) and spider monkeys (Ateles belzebuth andAteles fusciceps) Electrical activity patterns were determined for both support and swing phases in the following muscles: cranial pectoralis major, caudal pectoralis major, middle deltoideus, short head of biceps brachii, flexor digitorum superficialis, latissimus dorsi, and dorsoepitrochlearis. Our experimental findings reinforce earlier behavioral observations that brachiation is not a discrete, stereotyped locomotor activity. EMG patterns differed most between gibbon and spider monkey in those muscles that exhibit markedly disparate morphologies in the two genera-pectoralis major (both portions) and the short head of biceps brachii. Additional recruitment differences appear related to consistent species-specific differences in the timing and mechanics of both support and swing phases, and probably to the role of the prehensile tail as a fail-safe mechanism in the spider monkey.     

Curvature of the forelimb bones of anthropoid primates: Overall allometric patterns and specializations in suspensory species

It has previously been reported that brachiating primates, particularly gibbons, are characterized by distinctively straight forelimb long bones, yet no hypotheses have been proposed to explain why straight limb bones may be adaptive to suspensory locomotion. This study explores quantitatively the curvature of the long bones in 13 species of anthropoid primates and analyzes the functional consequences of curvature in biomechanical terms. These analyses demonstrate that, whereas the humeri of gibbons and spider monkeys are functionally less curved than those of other taxa, the ulnae of brachiators are neither more nor less curved than those of other anthropoids, and the gibbon radius is far more curved than would be predicted from body size alone. The humerus is likely significantly less curved in brachiators because of its torsion-dominated loading regime and the greatly increased stress magnitude developed in torsionally loaded curved beams. The large curvature of the radius is localized in the region of attachment of the supinator muscle. Analysis presented here of muscle mass allometry in catarrhines demonstrates that gibbons are characterized by an extremely massive supinator, and the large radial curvature is therefore most likely due to forearm muscle mechanics. This study also demonstrates that the overall pattern of limb bone curvature for anthropoids is distinct from the pattern reported for mammals as a whole. This distinctive scaling relationship may be related to the increased length of the limb bones of primates in comparison to other mammals.     

Posture, gait and the ecological relevance of locomotor costs and energy-saving mechanisms in tetrapods

A reanalysis of locomotor data from functional, energetic, mechanical and ecological perspectives reveals that limb posture has major effects on limb biomechanics, energy-saving mechanisms and the costs of locomotion. Regressions of data coded by posture (crouched vs. erect) reveal nonlinear patterns in metabolic cost, limb muscle mass, effective mechanical advantage, and stride characteristics. In small crouched animals energy savings from spring and pendular mechanisms are inconsequential and thus the metabolic cost of locomotion is driven by muscle activation costs. Stride frequency appears to be the principal functional parameter related to the decreasing cost of locomotion in crouched animals. By contrast, the shift to erect limb postures invoked a series of correlated effects on the metabolic cost of locomotion: effective mechanical advantage increases, relative muscle masses decrease, metapodial limb segments elongate dramatically (as limbs shift from digitigrade to unguligrade designs) and biological springs increase in size and effectiveness. Each of these factors leads to decreases in the metabolic cost of locomotion in erect forms resulting from real and increasing contributions of pendular savings and spring savings. Comparisons of the relative costs and ecological relevance of different gaits reveal that running is cheaper than walking in smaller animals up to the size of dogs but running is more expensive than walking in horses. Animals do not necessarily use their cheapest gaits for their predominant locomotor activity. Therefore, locomotor costs are driven more by ecological relevance than by the need to optimize locomotor economy.     

Patterns of mechanical energy change in tetrapod gait: pendula, springs and work

Kinematic and center of mass (CoM) mechanical variables used to define terrestrial gaits are compared for various tetrapod species. Kinematic variables (limb phase, duty factor) provide important timing information regarding the neural control and limb coordination of various gaits. Whereas, mechanical variables (potential and kinetic energy relative phase, %Recovery, %Congruity) provide insight into the underlying mechanisms that minimize muscle work and the metabolic cost of locomotion, and also influence neural control strategies. Two basic mechanisms identified by Cavagna et al. (1977. Am J Physiol 233:R243-R261) are used broadly by various bipedal and quadrupedal species. During walking, animals exchange CoM potential energy (PE) with kinetic energy (KE) via an inverted pendulum mechanism to reduce muscle work. During the stance period of running (including trotting, hopping and galloping) gaits, animals convert PE and KE into elastic strain energy in spring elements of the limbs and trunk and regain this energy later during limb support. The bouncing motion of the body on the support limb(s) is well represented by a simple mass-spring system. Limb spring compliance allows the storage and return of elastic energy to reduce muscle work. These two distinct patterns of CoM mechanical energy exchange are fairly well correlated with kinematic distinctions of limb movement patterns associated with gait change. However, in some cases such correlations can be misleading. When running (or trotting) at low speeds many animals lack an aerial period and have limb duty factors that exceed 0.5. Rather than interpreting this as a change of gait, the underlying mechanics of the body's CoM motion indicate no fundamental change in limb movement pattern or CoM dynamics has occurred. Nevertheless, the idealized, distinctive patterns of CoM energy fluctuation predicted by an inverted pendulum for walking and a bouncing mass spring for running are often not clear cut, especially for less cursorial species. When the kinematic and mechanical patterns of a broader diversity of quadrupeds and bipeds are compared, more complex patterns emerge, indicating that some animals may combine walking and running mechanics at intermediate speeds or at very large size. These models also ignore energy costs that are likely associated with the opposing action of limbs that have overlapping support times during walking. A recent model of terrestrial gait (Ruina et al., 2005. J Theor Biol, in press) that treats limb contact with the ground in terms of collisional energy loss indicates that considerable CoM energy can be conserved simply by matching the path of CoM motion perpendicular to limb ground force. This model, coupled with the earlier ones of pendular exchange during walking and mass-spring elastic energy savings during running, provides compelling argument for the view that the legged locomotion of quadrupeds and other terrestrial animals has generally evolved to minimize muscle work during steady level movement.     

Morphological conservation of limb natural pendular period in the domestic dog (Canis familiaris): Implications for locomotor energetics

For better understanding of the links between limb morphology and the metabolic cost of locomotion, we have characterized the relationships between limb length and shape and other functionally important variables in the straightened forelimbs and hindlimbs of a sample of 12 domestic dogs (Canis familiaris). Intra-animal comparisons show that forelimbs and hindlimbs are very similar (not significantly different) in natural pendular period (NPP), center-of-mass, and radius of gyration, even though they differ distinctly in mass, length, moment-of-inertia, and other limb proportions. The conservation of limb NPP, despite pronounced dissimilarity in other limb characteristics, appears to be the result of systematic differences in shape, forelimbs tending to be cylindrical and hindlimbs conical. Estimating limb NPP for other species from data in the literature on segment inertia and total limb length, we present evidence that the similarity between forelimbs and hindlimbs in NPP is generally true for mammals across a large size range. Limbs swinging with or near their natural pendular periods will maximize within-limb pendular exchange of potential and kinetic energy. As all four limbs of moderate- and large-size animals swing with the same period during walking, maximal advantage can be derived from the pendular exchange of energy only if forelimbs and hindlimbs are very similar in NPP. We hypothesize that an important constraint in the evolution of limb length and shape is the locomotor economy derived from forelimbs and hindlimbs of similar natural pendular period. J. Morphol. 234:183–196, 1997. © 1997 Wiley-Liss, Inc.     

Mechanical energy oscillations of two brachiation gaits: measurement and simulation

How do arm‐swinging apes locomote effectively over a variety of speeds? One way to reduce the metabolic energy cost of locomotion is to transfer energy between reversible mechanical modes. In terrestrial animals, at least two transfer mechanisms have been identified: 1) a pendulum‐like mechanism for walking, with exchange between gravitational potential energy and translational kinetic energy, and 2) a spring‐like mechanism for running, where the elastic strain energy of stretched muscle and tendon is largely returned to reaccelerate the animal. At slower speeds, a brachiator will always have at least one limb in contact with the support, similar to the overlap of foot contact in bipedal walking. At faster speeds, brachiators exhibit an aerial phase, similar to that seen in bipedal running. Are there two distinct brachiation gaits even though the animal appears to simply swing beneath its overhead support? If so, are different exchange mechanisms employed? Our kinetic analysis of brachiation in a white‐handed gibbon (Hylobates lar) indicates that brachiation is indeed comprised of two mechanically distinct gaits. At slower speeds in “continuous contact” brachiation, the gibbon utilizes a simple pendulum‐like transfer of mechanical energy within each stride. At faster speeds in “ricochetal” brachiation, translational and rotational kinetic energy are exchanged in a novel “whip‐like” transfer. We propose that brachiators utilize the transfer between translational and rotational kinetic energy to control the dynamics of their swing. This maneuver may allow muscle action at the shoulder to control the transfer and adjust the ballistic portion of the step to meet the requirements for the next hand contact. Am J Phys Anthropol 115:319–326, 2001. © 2001 Wiley‐Liss, Inc.     

Positional behavior of female bornean orangutans (Pongo pygmaeus)

Observational data were collected on the positional behavior of habituated adult female orangutans in the rain forest of the Kutai National Park, East Kalimantan, Indonesia. Results revealed the following about locomotion during travel: movement was concentrated in the understory and lower main canopy; and brachiation (without grasping by the feet) accounted for 11% of travel distance, quadrupedalism for 12%, vertical climbing for 18%, tree-swaying for 7%, and clambering for 51%. In climbing and clambering, the animal was orthograde and employed forelimb suspension with a mixture of hindlimb suspension and support. Thus suspension by the forelimbs occurred in at least 80% of travel. Locomotion in feeding trees resembled that during travel but with more climbing and less brachiation. Feeding was distributed more evenly among canopy levels than was travel, and use of postures (by time) included sitting 50%, suspension with the body vertical 11%, and suspension by hand and foot with the body horizontal 36%. The traditional explanation of the evolution of the distinctive hominoid postcranium stresses brachiation. More recently it has been proposed that climbing, broadly defined and partly equivalent to clambering in this study, is the most significant behavior selecting for morphology. The biomechanical similarity of brachiation and the orthograde clambering of orangutans precludes the present results from resolving the issue for the evolution of Pongo. The orangutan is by far the largest mammal that travels in forest canopy, and a consideration of the ways that its positional behavior solves problems posed by habitat structure, particularly the tapering of branches and gaps between trees, indicates that suspensory capacities have been essential in permitting the evolution and maintenance of its great body size.     

Suspensory locomotion of Lagothrix lagothricha and Ateles belzebuth in Yasuní National Park,Ecuador

A comparative field study of the locomotion of woolly monkeys (Lagothrix lagothricha) and spider monkeys (Ateles belzebuth) in undisturbed rainforest of northeastern Ecuador reveals substantial differences in their use of suspensory modes. Ateles performed both more brachiation (by forelimbs and tail, with trunk rotation), and forelimb swing (similar to brachiation, but without trunk rotation) than Lagothrix. In contrast, in Lagothrix 20% of suspensory movement was by pronograde forelimb swing, which resembles forelimb swing except that the body is held in a pronograde orientation due to the tail and/or feet intermittently grasping behind the trailing forelimb. Ateles never exhibited this mode. Both brachiation and forelimb swing by Ateles were more dynamic than in Lagothrix, consisting of higher proportions of full-stride bouts (versus single-step). Both species used smaller supports for suspensory than for quadrupedal locomotion, and Ateles used both smaller and larger supports for suspension than did Lagothrix. Analysis of support inclination shows that both species tended to perform more above-support movement on horizontal supports and more below-support (suspensory) movement from oblique supports. Our attempt to elucidate the aspects of canopy structure that favor suspension suggests the need for additional kinds of observational data, focusing on the "immediate structural context" of positional events.     

Size-assortative mating and sexual size dimorphism are predictable from simple mechanics of mate-grasping behavior

Background  

A major challenge in evolutionary biology is to understand the typically complex interactions between diverse counter-balancing factors of Darwinian selection for size assortative mating and sexual size dimorphism. It appears that rarely a simple mechanism could provide a major explanation of these phenomena. Mechanics of behaviors can predict animal morphology, such like adaptations to locomotion in animals from various of taxa, but its potential to predict size-assortative mating and its evolutionary consequences has been less explored. Mate-grasping by males, using specialized adaptive morphologies of their forelegs, midlegs or even antennae wrapped around female body at specific locations, is a general mating strategy of many animals, but the contribution of the mechanics of this wide-spread behavior to the evolution of mating behavior and sexual size dimorphism has been largely ignored.     

Morphological evolution of spiders predicted by pendulum mechanics

Background

Animals have been hypothesized to benefit from pendulum mechanics during suspensory locomotion, in which the potential energy of gravity is converted into kinetic energy according to the energy-conservation principle. However, no convincing evidence has been found so far. Demonstrating that morphological evolution follows pendulum mechanics is important from a biomechanical point of view because during suspensory locomotion some morphological traits could be decoupled from gravity, thus allowing independent adaptive morphological evolution of these two traits when compared to animals that move standing on their legs; i.e., as inverted pendulums. If the evolution of body shape matches simple pendulum mechanics, animals that move suspending their bodies should evolve relatively longer legs which must confer high moving capabilities.

Methodology/Principal Findings

We tested this hypothesis in spiders, a group of diverse terrestrial generalist predators in which suspensory locomotion has been lost and gained a few times independently during their evolutionary history. In spiders that hang upside-down from their webs, their legs have evolved disproportionately longer relative to their body sizes when compared to spiders that move standing on their legs. In addition, we show how disproportionately longer legs allow spiders to run faster during suspensory locomotion and how these same spiders run at a slower speed on the ground (i.e., as inverted pendulums). Finally, when suspensory spiders are induced to run on the ground, there is a clear trend in which larger suspensory spiders tend to run much more slowly than similar-size spiders that normally move as inverted pendulums (i.e., wandering spiders).

Conclusions/Significance

Several lines of evidence support the hypothesis that spiders have evolved according to the predictions of pendulum mechanics. These findings have potentially important ecological and evolutionary implications since they could partially explain the occurrence of foraging plasticity and dispersal constraints as well as the evolution of sexual size dimorphism and sociality.     

Optimal shape and motion of undulatory swimming organisms

Undulatory swimming animals exhibit diverse ranges of body shapes and motion patterns and are often considered as having superior locomotory performance. The extent to which morphological traits of swimming animals have evolved owing to primarily locomotion considerations is, however, not clear. To shed some light on that question, we present here the optimal shape and motion of undulatory swimming organisms obtained by optimizing locomotive performance measures within the framework of a combined hydrodynamical, structural and novel muscular model. We develop a muscular model for periodic muscle contraction which provides relevant kinematic and energetic quantities required to describe swimming. Using an evolutionary algorithm, we performed a multi-objective optimization for achieving maximum sustained swimming speed U and minimum cost of transport (COT)--two conflicting locomotive performance measures that have been conjectured as likely to increase fitness for survival. Starting from an initial population of random characteristics, our results show that, for a range of size scales, fish-like body shapes and motion indeed emerge when U and COT are optimized. Inherent boundary-layer-dependent allometric scaling between body mass and kinematic and energetic quantities of the optimal populations is observed. The trade-off between U and COT affects the geometry, kinematics and energetics of swimming organisms. Our results are corroborated by empirical data from swimming animals over nine orders of magnitude in size, supporting the notion that optimizing U and COT could be the driving force of evolution in many species.     

A comparison of swimming structures and kinematics in three species of crustacean larvae

Crustacean larvae swim with paired rowing appendages that rotate around the body of the animal. The number of paired rowing appendages varies from one species of larvae to another. In addition, the size of the crustacean larvae is different between species and increases as they grow. The nature of the fluid forces changes as size increases, so the morphology and mechanics of swimming in these animals will change during increases in size. This article demonstrates the changing kinematics of locomotion between three species of crustacean larvae, which swim with one (Artemia franciscana), two (Carcinus maenas) or five (Homarus americanus) pairs of propulsive limbs. The relative change in the surface area and volume ratios of the locomotor structures are also demonstrated.