The orientation of walking honeybees in odour fields with small concentration gradients

The behaviour of walking honeybees in small gradient odour fields was investigated by means of a simulation technique. The bee was kept in one place by a locomotion compensator (‘running sphere’). This compensator allowed for a precise reconstruction of the bee's actual locomotion on the sphere, and presented the bee with a stimulating odour whose concentration was controlled by feedback from the reconstructed locomotion. This rendered possible the application of well-defined odour fields and revealed that: (1) honeybees are capable of finding odour sources in the absence of optical cues and with concentration gradients too small to allow tropotactic or klinotactic orientation; (2) bees are capable of memorizing odour concentrations with a high degree of accuracy; (3) this orientation system is based on a switching over from negative to positive anemotaxis at a ‘reference’ concentration; (4) this reference is a function of the odour concentration at which a sugar reward is given. The results do not support any hypothesis for an orientation system based on the detection and comparison of successive values of odour concentration. A hypothesis on the nature of the ‘reference value’ is discussed and supported by experiments.     

Electric field-directed fibroblast locomotion involves cell surface molecular reorganization and is calcium independent

Directional cellular locomotion is thought to involve localized intracellular calcium changes and the lateral transport of cell surface molecules. We have examined the roles of both calcium and cell surface glycoprotein redistribution in the directional migration of two murine fibroblastic cell lines, NIH 3T3 and SV101. These cell types exhibit persistent, cathode directed motility when exposed to direct current electric fields. Using time lapse phase contrast microscopy and image analysis, we have determined that electric field-directed locomotion in each cell type is a calcium independent process. Both exhibit cathode directed motility in the absence of extracellular calcium, and electric fields cause no detectable elevations or gradients of cytosolic free calcium. We find evidence suggesting that galvanotaxis in these cells involves the lateral redistribution of plasma membrane glycoproteins. Electric fields cause the lateral migration of plasma membrane concanavalin A receptors toward the cathode in both NIH 3T3 and SV101 fibroblasts. Exposure of directionally migrating cells to Con A inhibits the normal change of cell direction following a reversal of electric field polarity. Additionally, when cells are plated on Con A- coated substrata so that Con A receptors mediate cell-substratum adhesion, cathode-directed locomotion and a cathodal accumulation of Con A receptors are observed. Immunofluorescent labeling of the fibronectin receptor in NIH 3T3 fibroblasts suggests the recruitment of integrins from large clusters to form a more diffuse distribution toward the cathode in field-treated cells. Our results indicate that the mechanism of electric field directed locomotion in NIH 3T3 and SV101 fibroblasts involves the lateral redistribution of plasma membrane glycoproteins involved in cell-substratum adhesion.     

Continuous models for peristaltic locomotion with application to worms and soft robots

Biomechanics and Modeling in Mechanobiology - A continuous model for the peristaltic locomotion of compressible and incompressible rod-like bodies is presented. Using Green and Naghdi’s...     

Motility of cultured fish epidermal cells in the presence and absence of direct current electric fields

The motile behavior and cytoskeletal structures of fish epidermal cells (keratocytes) in the presence and absence of direct current (DC) electric fields were examined. These cells spontaneously show highly directional locomotion in culture, migrating at rates of up to 1 micron/s. When DC electric fields between 0.5 and 15 V/cm are applied, single epidermal cells as well as cell clusters and cell sheets migrate towards the cathode. Cell clusters and sheets break apart into single migratory cells in the upper range of these field strengths. Cell shape and morphology are unaltered when the keratocytes are guided by an electric field. Neither the spontaneous locomotion nor the electrically guided motility were found to be microtubule dependent. 1 mM La3+, 10 mM Co2+, 50 microM verapamil, and 50 microM nitrendipine (calcium channel antagonists) reversibly inhibited lamellipod formation and cell locomotion in both spontaneously migrating and electrically guided cells. Ciba-Geigy Product 28392, which stimulates the opening of calcium channels, and is a competitive inhibitor of nitrendipine, has no effect on the locomotion of keratocytes. Cell motility was also unaffected by hyperpolarizing and depolarizing (low and high K+) media. It is argued that while a tissue cell may accommodate changes in resting membrane potential without becoming more or less motile, the cell may not be able to counterbalance the effects of depolarization and hyperpolarization simultaneously. In this context, a gradient of membrane potential, which is induced by an external DC electric field, will serve as a persistent stimulus for cell locomotion.     

On designing geometric motion planners to solve regulating and trajectory tracking problems for robotic locomotion systems

Based on a geometric fiber bundle structure, a generalized method to solve both regulation and trajectory tracking problems for locomotion systems is presented. The method is especially applied to two case studies of robotic locomotion systems; a three link articulated fish-like robot as a prototype of locomotion systems with symmetry, and the snakeboard as a prototype of mixed locomotion systems. Our results show that although these motion planners have an open loop structure, due to their generalities, they can steer case studies with negligible errors for almost any complicated path.     

A theory for the locomotion of spirochetes

A hydrodynamic theory for the locomotion of spirochetes is presented. The theory is based on a possible arrangement of internal fibrils such that self rotation about a local body axis is possible. This self rotation is responsible for cancelling the torque produced by the traveling helical waves of the body.     

An octopus-bioinspired solution to movement and manipulation for soft robots

Soft robotics is a challenging and promising branch of robotics. It can drive significant improvements across various fields of traditional robotics, and contribute solutions to basic problems such as locomotion and manipulation in unstructured environments. A challenging task for soft robotics is to build and control soft robots able to exert effective forces. In recent years, biology has inspired several solutions to such complex problems. This study aims at investigating the smart solution that the Octopus vulgaris adopts to perform a crawling movement, with the same limbs used for grasping and manipulation. An ad hoc robot was designed and built taking as a reference a biological hypothesis on crawling. A silicone arm with cables embedded to replicate the functionality of the arm muscles of the octopus was built. This novel arm is capable of pushing-based locomotion and object grasping, mimicking the movements that octopuses adopt when crawling. The results support the biological observations and clearly show a suitable way to build a more complex soft robot that, with minimum control, can perform diverse tasks.     

Retinal optic flow during natural locomotion

We examine the structure of the visual motion projected on the retina during natural locomotion in real world environments. Bipedal gait generates a complex, rhythmic pattern of head translation and rotation in space, so without gaze stabilization mechanisms such as the vestibular-ocular-reflex (VOR) a walker’s visually specified heading would vary dramatically throughout the gait cycle. The act of fixation on stable points in the environment nulls image motion at the fovea, resulting in stable patterns of outflow on the retinae centered on the point of fixation. These outflowing patterns retain a higher order structure that is informative about the stabilized trajectory of the eye through space. We measure this structure by applying the curl and divergence operations on the retinal flow velocity vector fields and found features that may be valuable for the control of locomotion. In particular, the sign and magnitude of foveal curl in retinal flow specifies the body’s trajectory relative to the gaze point, while the point of maximum divergence in the retinal flow field specifies the walker’s instantaneous overground velocity/momentum vector in retinotopic coordinates. Assuming that walkers can determine the body position relative to gaze direction, these time-varying retinotopic cues for the body’s momentum could provide a visual control signal for locomotion over complex terrain. In contrast, the temporal variation of the eye-movement-free, head-centered flow fields is large enough to be problematic for use in steering towards a goal. Consideration of optic flow in the context of real-world locomotion therefore suggests a re-evaluation of the role of optic flow in the control of action during natural behavior.     

Assessment of human locomotion by using an insole measurement system and artificial neural networks

A new method for measuring and characterizing free-living human locomotion is presented. A portable device was developed to objectively record and measure foot-ground contact information in every step for up to 24h. An artificial neural network (ANN) was developed to identify the type and intensity of locomotion. Forty subjects participated in the study. The subjects performed level walking, running, ascending and descending stairs at slow, normal and fast speeds determined by each subject, respectively. The device correctly identified walking, running, ascending and descending stairs (accuracy 98.78%, 98.33%, 97.33%, and 97.29% respectively) among different types of activities. It was also able to determine the speed of walking and running. The correlation between actual speed and estimated speed is 0.98, p< 0.0001. The average error of walking and running speed estimation is -0.050+/-0.747 km/h (mean +/- standard deviation). The study has shown the measurement of duration, frequency, type, and intensity of locomotion highly accurate using the new device and an ANN. It provides an alternative tool to the use of a gait lab to quantitatively study locomotion with high accuracy via a small, light and portable device, and to do so under free-living conditions for the clinical applications.     

Locomotion and shell-righting behaviour in adult and juvenile Aporrhais occidentalis (Gastropoda: Strombacea)

Differences in behaviour between adult and juvenile Aporrhais occidentalis are related to age-dependent changes in shell morphology and habitat. Juvenile snails right their shells by pulling with the propodium, and do not ‘kick’ at the substratum until the expanded outer lip of the adult shell has formed. Locomotion of juveniles is by arhythmical crawling, with ‘leaping’ taking place only during escape from predators. Adult snails leap during both normal and escape locomotion. Data are presented that demonstrate the importance of the outer lip in stabilizing the shell during leaping locomotion. Escape reactions of A. occidentalis are similar to, but slower than, those reported in the literature for species of strombids. Most of the basic locomotory and shell-righting behaviour patterns seen in the highly specialized Strombidae are observable in the more primitive A. occidentalis. However, the use of the operculum in locomotion and shell righting, although characteristic of the Strombidae, is not found in A. occidentalis. The behaviour of Aporrhais is discussed in relation to evolution within the superfamily Strombacea.     

Locomotion Generation and Motion Library Design for an Anguilliform Robotic Fish

In this paper, modeling, locomotion generation, motion library design and path planning for a real prototype of an Anguilliform robotic fish are presented. The robotic fish consists of four links and three joints, and the driving forces are the torques applied to the joints. Considering kinematic constraints and hydrodynamic forces, Lagrangian formulation is used to obtain the dynamic model of the fish. Using this model, three major locomotion patterns of Anguilliform fish, including forward locomotion, backward locomotion and turning locomotion are investigated. It is found that the fish exhibits different locomotion patterns by giving different reference joint angles, such as adding reversed phase difference, or adding deflections to the original reference angles. The results are validated by both simulations and experiments. Furthermore, the relations among the speed of the fish, angular frequency, undulation amplitude, phase difference, as well as the relationship between the turning radius and deflection angle are investigated. These relations provide an elaborated motion library that can be used for motion planning of the robotic fish.     

External proprioceptors of locust locomotor organs and their change in the course of early larval ontogenesis

This work studies topography and structure of such important insect external proprioceptors as campaniform sensillae (CS). These mechanoreceptors are essential components of insect posture and locomotion regulation and participate in control of various forms of insect motor behavior (walking, jump, flight). There are traced their quantitative changes as well as differences in distribution of groups of these leg receptors at consecutive stages (from the 1st to the 4th instar) of ontogenetic development of larva of the locust Locusta migratoria L. The presence of groups of CS in proximal parts of extremities has been noted as early as in the 1st instar larvae. The CS groups in the wing pads were revealed only in the 4th instar larvae. The presented data allow connecting changes in structure and distribution of these proprioceptors with differences in locomotion of imagoes and larvae. A possible effect of these insect larval proprioceptors on central generators of the locomotion rhythms is discussed.     

Parasitic Robot System for Waypoint Navigation of Turtle

In research on small mobile robots and biomimetic robots,locomotion ability remains a major issue despite many advances in technology.However,evolution has led to there being many real animals capable of excellent locomotion.This paper presents a "parasitic robot system" whereby locomotion abilities of an animal are applied to a robot task.We chose a turtle as our first host animal and designed a parasitic robot that can perform "operant conditioning".The parasitic robot,which is attached to the turtle,can induce object-tracking behavior of the turtle toward a Light Emitting Diode (LED) and positively reinforce the behavior through repeated stimulus-response interaction.After training sessions over five weeks,the robot could successfully control the direction of movement of the trained turtles in the waypoint navigation task.This hybrid animal-robot interaction system could provide an alternative solution to some of the limitations of conventional mobile robot systems in various fields,and could also act as a useful interaction system for the behavioral sciences.     

Hydrodynamics of burst swimming fish larvae; a conceptual model approach

Burst swimming of fish larvae is analysed from a hydrodynamic point of view. A picture of the expected flow pattern is presented based on information in literature on unsteady-flow patterns around obstacles in the intermediate Reynolds number region. It is shown that the acceleration stage of burst swimming under restricted conditions can be treated as a frictionless impulsive motion. The stream pattern resulting from this motion is presented and the efficiency of locomotion during the acceleration stage is calculated. The flow pattern in the post-acceleration stage is sketched and the origin of an interaction between the viscous and the reactive force contribution to the propulsive force in this stage is discussed. It is explained how this interaction can lead to an increase in propulsive efficiency. A conceptual model is developed describing the three stages in burst swimming locomotion: the acceleration stage, the post-acceleration stage and the gliding stage. Data from literature of the travel distance versus time relation of the common carp larva (Cyprinus carpio) of 5.5-mm length has been used to test the model results. The test appeared remarkably successful, and the model results for larger larvae up to 22 mm length are presented. The gliding distance as a function of larval length resulting from the model has been compared with experimental data from literature.     

A technique to quantify skin displacement in the walking horse

A method is presented for quantitative determination of skin movement over the underlying skeletal structures during normal locomotion of the horse. The principle of the method is simultaneous visualization of the position of the skin and the underlying bony structures, by marking the bones with implanted light-emitting diodes (LEDs) and the skin with self adhesive spot labels. Recordings were made using photography.     

Locomotive mechanism of Physarum plasmodia based on spatiotemporal analysis of protoplasmic streaming

We investigate how an amoeba mechanically moves its own center of gravity using the model organism Physarum plasmodium. Time-dependent velocity fields of protoplasmic streaming over the whole plasmodia were measured with a particle image velocimetry program developed for this work. Combining these data with measurements of the simultaneous movements of the plasmodia revealed a simple physical mechanism of locomotion. The shuttle streaming of the protoplasm was not truly symmetric due to the peristalsis-like movements of the plasmodium. This asymmetry meant that the transport capacity of the stream was not equal in both directions, and a net forward displacement of the center of gravity resulted. The generality of this as a mechanism for amoeboid locomotion is discussed.     

Ein Flugsaurier-Rest aus dem Posidonienschiefer (Unter-Toarcium) von Schandelah bei Braunschweig

A detailed stratigraphic section of the Lower Toarcian Posidonienschiefer of Schandelah near Braunschweig (Niedersachsen, West Germany) is presented, and a pterosaur pelvis from that locality referred to asCampylognathoides sp. is described. It is the first record of this genus in North West Germany. A restoration of the pelvis indicates a laterally, slightly upwardly directed orientation of the acetabula which does not support a bird-like bipedal locomotion of this pterosaur as has been suggested elsewhere.     

Motion anisotropies and heading detection

 In motion-processing areas of the visual cortex in cats and monkeys, an anisotropic distribution of direction selectivities displays a preference for movements away from the fovea. This ‘centrifugal bias’ has been hypothetically linked to the processing of optic flow fields generated during forward locomotion. In this paper, we show that flow fields induced on the retina in many natural situations of locomotion of higher mammals are indeed qualitatively centrifugal in structure, even when biologically plausible eye movements to stabilize gaze on environmental targets are performed. We propose a network model of heading detection that carries an anisotropy similar to the one found in cat and monkey. In simulations, this model reproduces a number of psychophysical results of human heading detection. It suggests that a recently reported human disability to correctly identify the direction of heading from optic flow when a certain type of eye movement is simulated might be linked to the noncentrifugal structure of the resulting retinal flow field and to the neurophysiological anisotropies. Received: 1 April 1994/Accepted in revised form: 4 August 1994     

The application of biomechanical motion analysis to aspects of green monkey (Cercopithecus a. sabaeus) locomotion

A cinematographic method of biomechanical motion analysis is presented which permits the determination of body segment forces and joint moments of force, and thereby dominant muscle action. An analysis of the horizontal leap of Cercopithecus is used as an example of the utility of this approach in the area of functional morphology. Kinematic and kinetic data are presented and discussed in terms of the biomechanical requirements of this form of locomotion. The importance of a consideration of inertial as well as gravitational forces in an analysis of positional behavior involving body motion is stressed.