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

The coordination of adult stick insects walking on a light double wheel system with a fixed axle is examined as a function of friction loads applied to the wheels. Four parameters are influenced by loads parallel to the body axis in the range 0.08–1.0 p. Protraction duration at low stepping frequency falls to a value equal to that used in high speed walking and is therefore independent of step period for loads >0.4p. Above 0.4p the step period is significantly increased producing coordination patterns similar to those reported for free walking mature adults. Both the anterior (AEP) and posterior (PEP) extreme positions move forward with increasing load for all 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).     

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     

Effects of circum-oesophageal lesion on the behaviour of the stick insect Carausius morosus

The co-ordination of the walking behaviour of decerebrate stick insects is examined and compared with normal behaviour. The walks are fully coordinated but undergo subtle changes in timing, have a longer average step period and show momentary pauses of 50 ms during the time course of protraction movements. In addition a new intersegmental reflex has been discovered. This tactile reflex is used to avoid errors in co-ordination that would be produced by posterior legs stepping onto the tarsi of the legs in front. The reflex has a latency of 100 ms and is easily observed in lesioned animals but is also active, although seldom seen, in slowly walking intact animals.     

A preparation of the stick insect Carausius morosus for recording intracellularly from identified neurones during walking

ABSTRACT. Using a preparation of the stick insect it is possible to record activity from the neuropile of the mesotheoracic ganglion during sequences of walking behaviour lasting several minutes. The animal walks on two lightweight wheels, counterbalanced to give an upthrust of 0.4 g against the legs. Each wheel may be rotated independently during turning behaviour. The walking behaviour of the operated preparation is compared with the results obtained for free-walking animals, and intact or partially operated preparations, walking on heavier wheels and mercury. Records from several identified retractor motor neurones show the stability and reproducibility obtainable with this preparation.     

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.     

Gait patterns of Japanese pedestrians

Gait patterns of adult Japanese were observed while walking on a sidewalk at Fukuoka city under natural conditions on clear days during December 1987. Pedestrians were recorded by means of video recorder for eleven 1-hr observations. From the measurements of the number of steps and the time required for each subject to traverse 50 m, walking speed was calculated for 479 women and 139 men, and step length and cadence for 292 women and 117 men. The following factors were taken into account in the data analysis: footwear, accompanist, time of day, estimated age and sex. Normal values for walking speed, step length, and cadence information on present-day adult Japanese were documented. The range for the total sample was from 49 to 119 m/min in walking speed, from 51 to 91 cm in step length, and from 95 to 160 steps/min in cadence. There were no significant differences in walking speed, step length, and cadence of the women between wearing flat shoes and heeled shoes. Walking velocity and step length were greater in single walking than in group walking. As compared with the values in the daytime (10:00-15:30) velocity, step length, and cadence tended to be higher in the morning (7:30-10:00) and lower in the evening (15:30-18:00). Older people walked at a slower speed with shorter steps than younger people. For younger pedestrians no significant sex difference was observed in walking speed. Women required a higher cadence than men because of their shorter step lengths. Older men walked faster than older women.     

Variations of behavioural patterns during development in the water stick insect

Variations of associations between different behavioural patterns were analysed during post-embryonic development in the water stick insect,Ranatra linearis L. (Heteroptera: Nepidae). Behavioural patterns recorded were: quiescence, swimming, crawling, leg waving, body swaying, respiratory ascents breathing, respiratory descents, grooming and feeding activities (predatory attempts, foreleg movements, ingestion). A factorial analysis of correspondance stressed the contrast between the organization of larval behaviour and that of adult behaviour. No behavioural patterns were dropped from the repertoire during post-embryonic development ofRanatra linearis and no new patterns developed in adults outside the reproductive period. Larval behaviour was characterized by more frequent respiratory activities and grooming and adult behaviour was characterized by more frequent locomotory activities. At all larval stages grooming was associated with respiratory activities and crawling, but not with feeding activities.     

Insects Use Two Distinct Classes of Steps during Unrestrained Locomotion

Background

Adaptive, context-dependent control of locomotion requires modulation of centrally generated rhythmic motor patterns through peripheral control loops and postural reflexes. Thus assuming that the modulation of rhythmic motor patterns accounts for much of the behavioural variability observed in legged locomotion, investigating behavioural variability is a key to the understanding of context-dependent control mechanisms in locomotion. To date, the variability of unrestrained locomotion is poorly understood, and virtually nothing is known about the features that characterise the natural statistics of legged locomotion. In this study, we quantify the natural variability of hexapedal walking and climbing in insects, drawing from a database of several thousand steps recorded over two hours of walking time.

Results

We show that the range of step length used by unrestrained climbing stick insects is large, showing that step length can be changed substantially for adaptive locomotion. Step length distributions were always bimodal, irrespective of leg type and walking condition, suggesting the presence of two distinct classes of steps: short and long steps. Probability density of step length was well-described by a gamma distribution for short steps, and a logistic distribution for long steps. Major coefficients of these distributions remained largely unaffected by walking conditions. Short and long steps differed concerning their spatial occurrence on the walking substrate, their timing within the step sequence, and their prevalent swing direction. Finally, ablation of structures that serve to improve foothold increased the ratio of short to long steps, indicating a corrective function of short steps.

Conclusions

Statistical and functional differences suggest that short and long steps are physiologically distinct classes of leg movements that likely reflect distinct control mechanisms at work.     

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.     

Evolution of Courtship Behaviour Patterns and Reproductive Isolation in the Desmognathus ochrophaeus Complex

The extent to which differences in courtship behaviour patterns act as mechanisms of reproductive isolation is critical to understanding both speciation and the evolution of these behaviour patterns. While numerous studies have investigated intraspecific and interspecific differences in courtship, fewer interpret results in a phylogenetic framework. We describe and analyse geographic variation in the courtship behaviour patterns of the Allegheny Dusky salamander ( Desmognathus ochrophaeus ). We then examine courtship among closely related species in the D. ochrophaeus complex in a phylogenetic context. We found that populations of D. ochrophaeus separated by extensive geographic distances show little variation in courtship behaviour patterns and are sexually compatible. This contrasts with significant levels of sexual isolation between D. ochrophaeus and other species in the complex. Mapping behaviour patterns onto a phylogeny that we generated from cytochrome b sequences indicates that two behaviour patterns present in the courtship sequence of other members in the complex have either been lost in D. ochrophaeus or gained independently in other species in the complex. Loss of these behaviour patterns may result in reproductive isolation between D. ochrophaeus and its sister taxon, D. orestes .     

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.     

Did knuckle walking evolve twice?

Although African great apes share a similar quadrupedal locomotor behaviour, there are marked differences in hand morphology and size between the species. Hence, whilst all three species (two genera) of African ape frequently knuckle walk as adults, debate remains as to whether this behaviour is derived from a common ancestor or whether it evolved in parallel in chimpanzees and gorillas. This exploratory morphometric study of the sub-adult and adult wrist of these two genera aims to contribute to this debate. A total of twenty-seven dimensions of the lunate, triquetral, hamate and capitate of sub-adult and adult Pan troglodytes and Gorilla gorilla were analysed in order to determine whether carpal dimensions are generally ontogenetically scaled, and whether differences in growth trajectories, or length of growth, and adult morphologies can be explained by behavioural differences between the two species. Only 56% of all dimensions studied were ontogenetically scaled in sub-adults and some of these dimensions exhibit differing adult proportions between the two species. In general, the dimensions analysed fell into two categories: Pan and Gorilla either follow the same growth trajectories (Pattern A) or the Pan reduced major axis (RMA) regressions were significantly transposed above those of Gorilla (Pattern B). Additionally, it was found that Gorilla carpals appear to cease growing relatively earlier than those of Pan. While a small number of differences, notably those of the lunate, can be accounted for by differences in behaviour between the species, the majority of differences indicate heterochronic modifications of development during evolution, which correspond to kinematic differences in knuckle walking between the African great apes. In light of morphological, behavioural and ecological data currently available it is parsimonious to suggest that knuckle walking has evolved in parallel in the two lineages.     

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.     

Interaction of central and peripheral mechanisms during walking in first instar stick insects, Extatosoma tiaratum

ABSTRACT. Individual stick insects were studied walking on a tread-wheel. When a leg caught hold of a small fixed rod beside the wheel it: (a) applied a rhythmically modulated backward directed force (with the modulation frequency identical to the stepping frequency of the other legs); or (b) regularly lifted off the stick during the phase of minimum force, and then returned to the stick; or (c) it stepped onto the wheel. If the wheel was stopped, the applied force increased. It is deduced that this behaviour is driven by central rhythmicity of unknown origin. All the known sensory inputs to this behaviour are superimposed on this central oscillation. A hypothesis is discussed which qualitatively fits all the experimental results on the effect of these sensory influences on the timing of an individual leg's movements in stick insects.     

A model of leg coordination in the stick insect,Carausius morosus

A model of interleg coordination presented in a separate report is evaluated here by perturbing the step pattern in three ways. First, when the initial leg configuration is varied, the simulated leg movements assume a stable coordination from natural starting configurations in a natural way (Fig. 1a). They also rapidly re-establish the normal coordination when started from unnatural configurations (Fig. 1b-d). An explicit hierarchy of natural frequencies for the legs of the three thoracic segments is not required. Second, when the coordination is perturbed by assigning one or more legs a retraction velocity different from the rest, gliding coordination or various integer step ratios can be produced (Figs. 2–4). Third, when the swing of one leg is obstructed, characteristic changes in the stepping of other legs occur (Fig. 5). Overall differences between the step patterns of the model and those of the stick insect are related to the form of the coordinating mechanisms. Errors made by the model, such as overlapping swings by adjacent legs or discrepancies in step timing and step end-points, point out the limitations of a model restricted to kinematic parameters.     

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.     

Biomechanics of overground vs. treadmill walking in healthy individuals.

The goal of this study was to compare treadmill walking with overground walking in healthy subjects with no known gait disorders. Nineteen subjects were tested, where each subject walked on a split-belt instrumented treadmill as well as over a smooth, flat surface. Comparisons between walking conditions were made for temporal gait parameters such as step length and cadence, leg kinematics, joint moments and powers, and muscle activity. Overall, very few differences were found in temporal gait parameters or leg kinematics between treadmill and overground walking. Conversely, sagittal plane joint moments were found to be quite different, where during treadmill walking trials, subjects demonstrated less dorsiflexor moments, less knee extensor moments, and greater hip extensor moments. Joint powers in the sagittal plane were found to be similar at the ankle but quite different at the knee and hip joints. Differences in muscle activity were observed between the two walking modalities, particularly in the tibialis anterior throughout stance, and in the hamstrings, vastus medialis and adductor longus during swing. While differences were observed in muscle activation patterns, joint moments and joint powers between the two walking modalities, the overall patterns in these behaviors were quite similar. From a therapeutic perspective, this suggests that training individuals with neurological injuries on a treadmill appears to be justified.     

Walking in Aretaon asperrimus

This article describes basic parameters characterizing walking of the stick insect Aretaon asperrimus to allow a comparative approach with other insects studied. As in many other animals, geometrical parameters such as step amplitude and leg extreme positions do not vary with walking velocity. However, the relation between swing duration and stance duration is quite constant, in contrast to most insects studied. Therefore, velocity profiles during swing vary with walking velocity whereas time course of leg trajectories and leg angle trajectories are independent of walking velocity. Nevertheless, A. asperrimus does not show a classical tripod gait, but performs a metachronal, or tetrapod, gait, showing phase values differing from 0.5 between ipsilateral neighbouring legs. As in Carausius morosus, the detailed shape of the swing trajectory may depend on the form of the substrate. Effects describing coordinating influences between legs have been found that prevent the start of a swing as long as the posterior leg performs a swing. Further, the treading on tarsus reflex can be observed in Aretaon. No hint to the existence of a targeting influence has been found. Control of rearward walking is easiest interpreted by maintaining the basic rules but an anterior-posterior reversal of the information flow.     

Effects of provisioning on the social behaviour of Japanese and rhesus macaques: Implications for socioecology

Long-term studies have shown remarkable similarity in the social behaviour and relationships of Japanese and rhesus macaques living in free-ranging groups. The vast majority of these studies have been of provisioned groups and many key principles have been derived from them. Provisioning is known to influence various aspects of life history and demography, as well as quantitative aspects of social behaviour, such as the frequencies of grooming and aggression. It has been widely assumed, however, that the fundamental characteristics of social behaviour and relationships observed in provisioned populations are representative of those that would occur under natural conditions. This paper reviews findings from fieldwork on Japanese macaques living under natural conditions, and compares them with patterns of social behaviour reported by multiple studies of provisioned groups of both species. Differences are apparent in the nature of social relationships between adult females, between adult males, and between adult males and females. Some of these differences can be attributed to the increased levels of aggression associated with provisioning. Others appear to be related to demographic peculiarities of provisioned groups, such as large size and skewed sex ratio. These differences can be used to generate predictions concerning the influence of ecological variables on the dynamics of social relationships and social structure. Ways in which these predictions could be tested by further fieldwork on provisioned and natural populations are discussed.