Convergent evolution and locomotion through complex terrain by insects, vertebrates and robots

Arthropods are the most successful members of the animal kingdom largely because of their ability to move efficiently through a range of environments. Their agility has not been lost on engineers seeking to design agile legged robots. However, one cannot simply copy mechanical and neural control systems from insects into robotic designs. Rather one has to select the properties that are critical for specific behaviors that the engineer wants to capture in a particular robot. Convergent evolution provides an important clue to the properties of legged locomotion that are critical for success. Arthropods and vertebrates evolved legged locomotion independently. Nevertheless, many neural control properties and mechanical schemes are remarkably similar. Here we describe three aspects of legged locomotion that are found in both insects and vertebrates and that provide enhancements to legged robots. They are leg specialization, body flexion and the development of a complex head structure. Although these properties are commonly seen in legged animals, most robotic vehicles have similar legs throughout, rigid bodies and rudimentary sensors on what would be considered the head region. We describe these convergent properties in the context of robots that we developed to capture the agility of insects in moving through complex terrain.     

An analytical estimation of the energy cost for legged locomotion

Legged locomotion requires the determination of a number of parameters such as stride period, stride length, order of leg movements, leg trajectory, etc. How are these parameters determined? It has been reported that the locomotor patterns of many legged animals exhibit common characteristics, which suggests that there exists a basic strategy for legged locomotion. In this study we derive an equation to estimate the cost of transport for legged locomotion and examine a criterion of the minimization of the transport cost as a candidate of the strategy. The obtained optimal locomotor pattern that minimizes the cost suitably represents many characteristics of the pattern observed in legged animals. This suggests that the locomotor pattern of legged animals is well optimized with regard to the energetic cost. The result also suggests that the existence of specific gait patterns and the phase transition between them could be the result due to optimization; they are induced by the change in the distribution of ground reaction forces for each leg during locomotion.     

Locomotor Performance Varies With Adult Phenotype in Ornamented/Non‐Ornamented Wolf Spiders

Locomotor performance constitutes a major component of whole‐animal performance and is involved in several fitness‐related behaviors. Locomotor capabilities may also correspond positively or negatively to sexually selected traits (e.g., male ornamentation and/or courtship displays). Negative correlations are predicted if secondary sexual traits take the form of morphological modifications that impose physical or energetic limitations. We tested this cost of secondary sexual traits by comparing locomotor performance in male Schizocosa wolf spiders that exhibit two distinct phenotypes. These phenotypes vary in the presence/absence of a morphological feature assumed to function as sexual ornamentation—foreleg brushes. Given the conspicuously large brushes of hair on the brush‐legged phenotype, we expected these males to suffer in locomotor performance. We tested this cost by comparing locomotor performance among male phenotypes (brush‐legged and non‐ornamented) and females at immature and adult life stages. We did not find strong support for costs of brushes on locomotion. First, brush‐legged males showed similar average speeds and endurance as both non‐ornamented males and females. Second, while brush‐legged males were slower at maximum speeds than non‐ornamented males as matures (but not as immatures), they were no slower than mature females. Further, we found no variation in endurance among phenotypes or life stages. Finally, brush size did not correspond to speed. Patterns of morphological variation in traits other than ornamentation may explain these patterns: when morphological variation in leg lengths was accounted for, differences in maximum speed among groups disappeared. We suggest that the faster speeds achieved by non‐ornamented males arise as a by‐product of selection on morphology and musculature potentially necessary for vigorous courtship.     

Legged insects select the optimal locomotor pattern based on the energetic cost

 The gait transition in legged animals has attracted many researchers, and its relation to metabolic cost and mechanical work has been discussed in recent decades. We assumed that the energetic cost during locomotion is given by the sum of positive mechanical work and the heat energy loss that is proportional to the square of joint torque and examined the optimal locomotor pattern based on the energetic cost in a simple dynamical model of a hexapod by computer simulations. The obtained results well agree with characteristics in the locomotor patterns in legged animals; for example, the leg protraction time, step length, and the metabolic cost of transport are almost constant for many velocities, the leg cycling period decreases with velocity, and the energetic cost of locomotion induced by carrying loads linearly increases with mass loaded. This correspondence of the results of calculation to experimental results suggest that the heat energy loss for torque generation is proportional to the square of the torque during locomotion, and that the locomotor pattern in legged animals is highly optimized based on the energetic cost. Received: 22 December 1998 / Accepted: 14 April 2000     

Human odometer is gait-symmetry specific

In 1709, Berkeley hypothesized of the human that distance is measurable by ‘the motion of his body, which is perceivable by touch’. To be sufficiently general and reliable, Berkeley''s hypothesis must imply that distance measured by legged locomotion approximates actual distance, with the measure invariant to gait, speed and number of steps. We studied blindfolded human participants in a task in which they travelled by legged locomotion from a fixed starting point A to a variable terminus B, and then reproduced, by legged locomotion from B, the A–B distance. The outbound (‘measure’) and return (‘report’) gait could be the same or different, with similar or dissimilar step sizes and step frequencies. In five experiments we manipulated bipedal gait according to the primary versus secondary distinction revealed in symmetry group analyses of locomotion patterns. Berkeley''s hypothesis held only when the measure and report gaits were of the same symmetry class, indicating that idiothetic distance measurement is gait-symmetry specific. Results suggest that human odometry (and perhaps animal odometry more generally) entails variables that encompass the limbs in coordination, such as global phase, and not variables at the level of the single limb, such as step length and step number, as traditionally assumed.     

Dynamic strain similarity in vertebrates; an alternative to allometric limb bone scaling

Galileo (1638) observed that "nature cannot grow a tree nor construct an animal beyond a certain size, while retaining the proportions which suffice in the case of a smaller structure". However, subsequent measurement has shown that limb bone dimensions are scaled geometrically with body size (Alexander et al., 1979a), and that the material properties of their constituent bone tissue are similar in animals over a wide range of body weight (Sedlin & Hirsch, 1966; Yamada, 1970; Burstein et al., 1972; Biewener, 1982). If, as suggested in previous scaling arguments (McMahon, 1973; Biewener, 1982), vigorous locomotion involved the same proportional forces over a wide range of animal size, this would create a paradox since large animals would be in far greater danger of skeletal failure than small ones. However, in vivo strain gauge implantations have shown that, during high speed running, axial force as a proportion of body weight (G) in the limb bones of animals decreases as a function of body size from 6.9 G in a 7 kg turkey to 2.8 G in a small (130 kg) horse. Estimates of axial force in larger animals suggest that this is further reduced to 0.8 G in a 2500 kg elephant. Nevertheless, it appears that, regardless of animal size or locomotory style, the peak stresses in the bones of these animals are remarkably similar. Therefore, throughout the range of animals considered (350 times differences in mass), we suggest that similar safety factors to failure are maintained, not by allometrically scaling bone dimensions, but rather by allometrically scaling the magnitude of the peak forces applied to them during vigorous locomotion.(ABSTRACT TRUNCATED AT 250 WORDS)     

Skeletal adaptations for forwards and sideways walking in three species of decapod crustaceans

Crustaceans have been successfully employed to study legged locomotion for decades. Most studies have focused on either forwards-walking macrurans, or sideways-walking brachyurans. Libinia emarginata is a Majoid crab (Brachyura) and as such belongs to the earliest group to have evolved the crab form from homoloid ancestors. Unlike most brachyurans, Libinia walks forwards 80% of the time. We employed standard anatomical techniques and motion analysis to compare the skeleton, stance, and the range of motion of the legs of Libinia to the sideways-walking green shore crab (Carcinus maenas), and to the forwards-walking crayfish (Procambarus clarkii). We found animals tended to have greater ranges of motion for joints articulating in the preferred direction of locomotion. Leg segments proximal to such joints were comparatively longer. Thorax elongation, leg length and placement at rest also reflected walking preference. Comparative studies of walking in Libinia and other brachyurans may shed light on the neuroethology of legged locomotion, and on the anatomical and physiological changes necessary for sideways-walking in crustaceans.     

Running over unknown rough terrain with a one-legged planar robot

The ability to traverse unknown, rough terrain is an advantage that legged locomoters have over their wheeled counterparts. However, due to the complexity of multi-legged systems, research in legged robotics has not yet been able to reproduce the agility found in the animal kingdom. In an effort to reduce the complexity of the problem, researchers have developed single-legged models to gain insight into the fundamental dynamics of legged running. Inspired by studies of animal locomotion, researchers have proposed numerous control strategies to achieve stable, one-legged running over unknown, rough terrain. One such control strategy incorporates energy variations into the system during the stance phase by changing the force-free leg length as a sinusoidal function of time. In this research, a one-legged planar robot capable of implementing this and other state-of-the-art control strategies was designed and built. Both simulated and experimental results were used to determine and compare the stability of the proposed controllers as the robot was subjected to unknown drop and raised step perturbations equal to 25% of the nominal leg length. This study illustrates the relative advantages of utilizing a minimal-sensing, active energy removal control scheme to stabilize running over rough terrain.     

Multiresistant Enterobacteriaceae in yellow‐legged gull chicks in their first weeks of life

Wild animal species living in anthropogenic areas are commonly carriers of antimicrobial‐resistant bacteria (AMRB), but their role in the epidemiology of these bacteria is unclear. Several studies on AMRB in wildlife have been cross‐sectional in design and sampled individual animals at only one point in time. To further understand the role of wildlife in maintaining and potentially transmitting these bacteria to humans and livestock, longitudinal studies are needed in which samples are collected from individual animals over multiple time periods. In Europe, free‐ranging yellow‐legged gulls (Larus michahellis) commonly live in industrialized areas, forage in landfills, and have been found to carry AMRB in their feces. Using bacterial metagenomics and antimicrobial resistance characterization, we investigated the spatial and temporal patterns of AMRB in a nesting colony of yellow‐legged gulls from an industrialized area in southern France. We collected 54 cloacal swabs from 31 yellow‐legged gull chicks in 20 nests on three dates in 2016. We found that AMRB in chicks increased over time and was not spatially structured within the gull colony. This study highlights the complex occurrence of AMRB in a free‐ranging wildlife species and contributes to our understanding of the public health risks and implications associated with ARMB‐carrying gulls living in anthropogenic areas.     

Brief communication: Morphological effects of captivity: A geometric morphometric analysis of the dorsal side of the scapula in captive‐bred and wild‐caught hominoidea

Many osteological collections from museums and research institutions consist mainly of remains from captive‐bred animals. The restrictions related to the space of their enclosures and the nature of its substrate are likely to affect the locomotor and postural behaviors of captive‐bred animals, which are widely considered uninformative regarding bone morphology and anatomical adaptations of wild animals, especially so in the case of extant great apes. We made a landmark‐based geometric morphometrics analysis of the dorsal side of the scapular bone of both wild‐caught and captive‐bred great apes to clarify the effect of captivity on the morphology of a bone greatly involved in locomotion. The comparison suggested that captivity did not have a significant effect on the landmark configuration used, neither on average scapular shape nor shape variability, being impossible to distinguish the scapulae of a captive‐bred animal from that of a wild‐caught one. This indicates that the analyzed scapulae from captive Hominoidea specimens may be used in morphological or taxonomic analyses since they show no atypical morphological traits caused by living conditions in captivity. Am J Phys Anthropol 152:306–310, 2013. © 2013 Wiley Periodicals, Inc.     

Stable walking with asymmetric legs

Asymmetric leg function is often an undesired side-effect in artificial legged systems and may reflect functional deficits or variations in the mechanical construction. It can also be found in legged locomotion in humans and animals such as after an accident or in specific gait patterns. So far, it is not clear to what extent differences in the leg function of contralateral limbs can be tolerated during walking or running. Here, we address this issue using a bipedal spring-mass model for simulating walking with compliant legs. With the help of the model, we show that considerable differences between contralateral legs can be tolerated and may even provide advantages to the robustness of the system dynamics. A better understanding of the mechanisms and potential benefits of asymmetric leg operation may help to guide the development of artificial limbs or the design novel therapeutic concepts and rehabilitation strategies.     

Locomotion in caterpillars

Most species of caterpillar move around by inching or crawling. Their ability to navigate in branching three‐dimensional structures makes them particularly interesting biomechanical subjects. The mechanism of inching has not been investigated in detail, but crawling is now well understood from studies on caterpillar neural activity, dynamics and structural mechanics. Early papers describe caterpillar crawling as legged peristalsis, but recent work suggests that caterpillars use a tension‐based mechanism that helps them to exploit arboreal niches. Caterpillars are not obligate hydrostats but instead use their strong grip to the substrate to transmit forces, in effect using their environment as a skeleton. In addition, the gut which accounts for a substantial part of the caterpillar's weight, moves independently of the body wall during locomotion and may contribute to crawling dynamics. Work‐loop analysis of caterpillar muscles shows that they are likely to act both as actuators and energy dissipaters during crawling. Because caterpillar tissues are pseudo‐elastic, and locomotion involves large body deformations, moving is energetically inefficient. Possession of a soft body benefits caterpillars by allowing them to grow quickly and to access remote food sources safely.     

A collisional model of the energetic cost of support work qualitatively explains leg sequencing in walking and galloping, pseudo-elastic leg behavior in running and the walk-to-run transition

Terrestrial legged locomotion requires repeated support forces to redirect the body's vertical velocity component from down to up. We assume that the redirection is accomplished by impulsive leg forces that cause small-angle glancing collisions of a point-mass model of the animal. We estimate the energetic costs of these collisions by assuming a metabolic cost proportional to positive muscle work involved in generating the impulses. The cost of bipedal running estimated from this collisional model becomes less than that of walking at a Froude number (v2/gl) of about 0.7. Two strategies to reduce locomotion costs associated with the motion redirection are: (1) having legs simulate purely elastic springs, as is observed in human running; and (2) sequencing the leg forces during the redirection phase; examples of this sequencing are the ba-da-dump pattern of a horse gallop and having push-off followed by heel-strike in human walking.     

Mouse hallucal metatarsal cross‐sectional geometry in a simulated fine branch niche

Mice raised in experimental habitats containing an artificial network of narrow “arboreal” supports frequently use hallucal grasps during locomotion. Therefore, mice in these experiments can be used to model a rudimentary form of arboreal locomotion in an animal without other morphological specializations for using a fine branch niche. This model would prove useful to better understand the origins of arboreal behaviors in mammals like primates. In this study, we examined if locomotion on these substrates influences the mid‐diaphyseal cross‐sectional geometry of mouse metatarsals. Thirty CD‐1/ICR mice were raised in either arboreal (composed of elevated narrow branches of varying orientation) or terrestrial (flat ramps and walkways that are stratified) habitats from weaning (21 days) to adulthood (≥4 months). After experiments, the hallucal metatarsal (Mt1) and third metatarsal (Mt3) for each individual were isolated and micro‐computed tomography (micro‐CT) scans were obtained to calculate mid‐shaft cross‐sectional area and polar section modulus. Arboreal mice had Mt1s that were significantly more robust. Mt3 cross sections were not significantly different between groups. The arboreal group also exhibited a significantly greater Mt1/Mt3 ratio for both robusticity measures. We conclude that the hallucal metatarsal exhibits significant phenotypic plasticity in response to arboreal treatment due to habitual locomotion that uses a rudimentary hallucal grasp. Our results support the hypothesis that early adaptive stages of fine branch arboreality should be accompanied by a slightly more robust hallux associated with the biomechanical demands of this niche. J. Morphol. 276:759–765, 2015. © 2015 Wiley Periodicals, Inc.     

A merciful death for the “earliest bilaterian,” Vernanimalcula

Fossils described as Vernanimalcula guizhouena, from the nearly 600 million‐year‐old Doushantuo Formation in South China, have been interpreted as the remains of bilaterian animals. As such they would represent the oldest putative record of bilaterian animals in Earth history, and they have been invoked in debate over this formative episode of early animal evolution. However, this interpretation is fallacious. We review the evidential basis of the biological interpretation of Vernanimalcula, concluding that the structures key to animal identity are effects of mineralization that do not represent biological tissues, and, furthermore, that it is not possible to derive its anatomical reconstruction on the basis of the available evidence. There is no evidential basis for interpreting Vernanimalcula as an animal, let alone a bilaterian. The conclusions of evolutionary studies that have relied upon the bilaterian interpretation of Vernanimalcula must be called into question.     

Jumping robots: a biomimetic solution to locomotion across rough terrain

This paper introduces jumping robots as a means to traverse rough terrain; such terrain can pose problems for traditional wheeled, tracked and legged designs. The diversity of jumping mechanisms found in nature is explored to support the theory that jumping is a desirable ability for a robot locomotion system to incorporate, and then the size-related constraints are determined from first principles. A series of existing jumping robots are presented and their performance summarized. The authors present two new biologically inspired jumping robots, Jollbot and Glumper, both of which incorporate additional locomotion techniques of rolling and gliding respectively. Jollbot consists of metal hoop springs forming a 300 mm diameter sphere, and when jumping it raises its centre of gravity by 0.22 m and clears a height of 0.18 m. Glumper is of octahedral shape, with four 'legs' that each comprise two 500 mm lengths of CFRP tube articulating around torsion spring 'knees'. It is able to raise its centre of gravity by 1.60 m and clears a height of 1.17 m. The jumping performance of the jumping robot designs presented is discussed and compared against some specialized jumping animals. Specific power output is thought to be the performance-limiting factor for a jumping robot, which requires the maximization of the amount of energy that can be stored together with a minimization of mass. It is demonstrated that this can be achieved through optimization and careful materials selection.     

Suspending loads decreases load stability but may slightly improve body stability

Here, we seek to determine how compliantly suspended loads could affect the dynamic stability of legged locomotion. We theoretically model the dynamic stability of a human carrying a load using a coupled spring-mass-damper model and an actuated spring-loaded inverted pendulum model, as these models have demonstrated the ability to correctly predict other aspects of locomotion with a load in prior work, such as body forces and energetic cost. We report that minimizing the load suspension natural frequency and damping ratio significantly reduces the stability of the load mass but may slightly improve the body stability of locomotion when compared to a rigidly attached load. These results imply that a highly-compliant load suspension could help stabilize body motion during human, animal, or robot load carriage, but at the cost of a more awkward (less stable) load.