The coordination of force oscillations and of leg movement in a walking insect (Carausius morosus)

As in the preceding paper stick insects walk on a treadwheel and different legs are put on platforms fixed relative to the insect's body. The movement of the walking legs is recorded in addition to the force oscillations of the standing legs. The coordination between the different legs depends upon the number and arrangement of the walking legs and the legs standing on platforms. In most experimental situations one finds a coordination which is different from that of a normal walking animal.Supported by DFG (Cr 58/1)     

The role of silk threads as lifelines for caterpillars: pattern and significance of lifeline-climbing behaviour

Abstract.  1. Most lepidopteran larvae use all of their legs (thoracic legs and abdominal prolegs) when walking on solid substrates. When caterpillars involuntarily or intentionally drop from the tree canopy, they can regain their original position by climbing silk lifelines spun out from the head spinnerets. However, the taxonomic distribution of this climbing behaviour in the Lepidoptera is unknown.
2. Here, lifeline-climbing behaviour is reported in 13 lepidopteran species belonging to different taxa (five superfamilies and six families: Zygaenidae, Drepanidae, Geometridae, Lymantriidae, Noctuidae, and Nymphalidae). Caterpillars usually used only the three pairs of thoracic legs to climb lifelines, although they use different methods to walk on solid substrates, according to their taxonomic grouping and number of prolegs.
3. Results suggest that lifeline-climbing behaviour using only the thoracic legs is common among various lepidopteran taxa. The majority of species (12 of 13) climbed lifelines by alternating movement of the left and right set of thoracic legs, aided by side-to-side body movements. Only one of the 13 species, the geometrid Naxa seriaria (Motschulsky), climbed lifelines by drawing them down with its thoracic legs, aided by abdominal looping movements. While side-to-side movement of the abdomen was previously reported in lifeline climbing, this is the first report of the use of looping movements.     

Righting kinematics in beetles (Insecta: Coleoptera)

Twenty modes of stereotyped righting motions were observed in 116 representative species of coleoptera. Methods included cine and stereocine recording with further frame by frame analysis, stereogrammetry, inverse kinematic reconstruction of joint angles, stroboscopic photography, recording of electromyograms, 3D measurements of the articulations, etc. The basic mode consists of a search phase, ending up with grasping the substrate, and a righting, overturning phase. Leg coordination within the search cycle differs from the walking cycle with respect to phasing of certain muscle groups. Search movements of all legs appear chaotic, but the tendency to move in antiphase is still present in adjacent ipsilateral and contralateral leg pairs. The system of leg coordination might be split: legs of one side might search, while contralateral legs walk, or fore and middle legs walk while hind legs search. Elaborated types of righting include somersaults with the aid of contralateral or diagonal legs, pitch on elytra, jumps with previous energy storage with the aid of unbending between thoracic segments (well-known for Elateridae), or quick folding of elytra (originally described in Histeridae). Righting in beetles is compared with righting modes known in locusts and cockroaches. Search in a righting beetle is directed dorsad, while a walking insect searches for the ground downwards. Main righting modes were schematized for possible application to robotics.     

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).     

A model of bipedal locomotion on compliant legs.

Simple mathematical models capable of walking or running are used to compare the merits of bipedal gaits. Stride length, duty factor (the fraction of the stride, for which the foot is on the ground) and the pattern of force on the ground are varied, and the optimum gait is deemed to be the one that minimizes the positive work that the muscles must perform, per unit distance travelled. Even the simplest model, whose legs have neither mass nor elastic compliance, predicts the changes of duty factor and force pattern that people make as they increase their speed of walking. It predicts a sudden change to running at a critical speed, but this is much faster than the speed at which people make the change. When elastic compliance is incorporated in the model, unnaturally fast walking becomes uncompetitive. However, a slow run with very brief foot contact becomes the optimum gait at low speeds, at which people would walk, unless severe energy dissipation occurs in the compliance. A model whose legs have mass as well as elastic compliance predicts well the relationship between speed and stride length in human walking.     

Kinematics of walking in the hermit crab,Pagurus pollicarus

Hermit crabs are decapod crustaceans that have adapted to life in gastropod shells. Among their adaptations are modifications to their thoracic appendages or pereopods. The 4th and 5th pairs are adapted for shell support; walking is performed with the 2nd and 3rd pereopods, with an alternation of diagonal pairs. During stance, the walking legs are rotated backwards in the pitch plane. Two patterns of walking were studied to compare them with walking patterns described for other decapods, a lateral gait, similar to that in many brachyurans, and a forward gait resembling macruran walking.Video sequences of free walking and restrained animals were used to obtain leg segment positions from which joint angles were calculated. Leading legs in a lateral walk generated a power stroke by flexion of MC and PD joints; CB angles often did not change during slow walks. Trailing legs exhibited extension of MC and PD with a slight levation of CB. The two joints, B/IM and CP, are aligned at 90° angles to CB, MC and PD, moving dorso-anteriorly during swing and ventro-posteriorly during stance. A forward step was more complex; during swing the leg was rotated forward (yaw) and vertically (pitch), due to the action of TC. At the beginning of stance, TC started to rotate posteriorly and laterally, CB was depressed, and MC flexed. As stance progressed and the leg was directed laterally, PD and MC extended, so that at the end of stance the dactyl tip was quite posterior. During walks of the animal out of its shell, the legs were extended more anterior-laterally and the animal often toppled over, indicating that during walking in a shell its weight stabilized the animal.An open chain kinematic model in which each segment was approximated as a rectangular solid, the dimensions of which were derived from measurements on animals, was developed to estimate the CM of the animal under different load conditions. CM was normally quite anterior; removal of the chelipeds shifted it caudally. Application of forces simulating the weight of the shell on the 5th pereopods moved CM just anterior to the thoracic-abdominal junction. However, lateral and vertical coordinates were not altered under these different load conditions. The interaction of the shell aperture with proximal leg joints and with the CM indicates that the oblique angles of the legs, due primarily to the rotation of the TC joints, is an adaptation that confers stability during walking.     

The locomotion of the camel (Camelus dromedarius)

The feet and gaits of many camels Camelus dromedarius were studied and filmed in Mauritania, Africa. The camel has a digitigrade stance, large feet to support the animal in soft sand, and soles of flexible pads that step readily onto small stones where necessary. The walking stride is long and slow, with the body supported for much of each stride on the two right or two left legs. The pattern of supporting legs was significantly different in slow compared to fast walking camels, and in young compared to adult camels and compared to adults pulling water at the wells. There was no difference in pattern in one individual's walk, when it was either loaded or unloaded. The angles that the leg bones made with each other and with the horizon are depicted for the walk and the pace. The camel is the only animal which paces often and never trots. The pace is an unstable gait only suitable for flat terrain such as that in deserts. It may have evolved from the pace-like walk which is by far the dominant gait in this animal, which spends most of each day walking from plant to plant browsing or grazing. The pace is not used by all camelids, as one author has claimed. The pace and the gallop were only used by the camels at wells, when the animals were chased from the water by men.     

A self-organizing model of walking patterns of insects

Insects generate walking patterns which depend upon external conditions. For example, when an insect is exposed to an additional load parallel to the direction in which it is walking, the walking pattern changes according to the magnitude of the load. Furthermore, even after some of its legs have been amputated, an insect will produce walking patterns with its remaining legs. These adaptations in insect walking could not previously be explained by a mathematical model, since the mathemati cal models were based upon the hypothesis that the relationship between walking velocity and walking patterns is fixed under all conditions. We have produced a mathematical model which describes self-organizing insect walking patterns in real-time by using feedback information regarding muscle load (Kimura et al. 1993). As part of this model, we introduced a new rule to coordinate leg movement, in which the information is circulated to optimize the efficiency of the energy transduction of each effector orga n. We describe this mechanism as ‘the least dissatisfaction for the greatest number of elements’. In this paper, we introduce the following aspects of this model, which reflect adaptability to changing circumstances: (1) after one leg is exposed to a transient perturbation, the walking pattern recovers swiftly; (2) when the external load parallel to the walking direction is continuously increased or decreased, the pattern transition point is shifted according to the magnitude of the load increme nt or decrement. This model generates a walking pattern which optimizes energy consumption at a given walking velocity even under these conditions; and (3) when some of the legs are amputated, the model generates walking patterns which are consistent with experimental results. We also discuss the ability of a hierarchical self-organizing model to describe a swift and flexible information processing system. Received: 8 February 1993/Accepted in revised form: 12 November 1993     

Allometry between leg and body length of insects: lack of support for the size–grain hypothesis

• 1 The size–grain hypothesis ( Kaspari & Weiser, 1999 ) states that (1) as organisms decrease in size, they perceive their environment as being more rugose; (2) long legs allow organisms to step over obstacles but hinder them from entering small gaps; and (3) as the size of an organism decreases, the benefits of long legs begin to be outweighed by the costs of construction. Natural selection should therefore favour proportionally longer legs in larger organisms, thereby leading to a positive allometry between leg and body length (scaling exponent b > 1).
• 2 Here we compare the scaling exponent of leg‐to‐body length relationships among insects that walk, walk and fly, and predominantly fly. We measured the lengths of the hind tibia, hind femur, and body length of each species.
• 3 The taxa varied considerably in the scaling exponent b. In seven out of ten groups (Formicidae, Isoptera, Carabidae, Pentatomidae, Apidae, Lepidoptera, Odonata adult), b was significantly greater than one. However, there was no gradual decrease in b from walking to walking/flying to flying insects.
• 4 The results of the present study provide no support for the size–grain hypothesis. We propose that leg length is not only affected by the rugosity of the environment, but also by (1) functional adaptations, (2) phylogeny, (3) lifestyle, (4) the type of insect development (hemimetabolism or holometabolism), and (5) constraints of gas exchange.

     

An upper-body can improve the stability and efficiency of passive dynamic walking

The compass-gait walker proposed by McGeer can walk down a shallow slope with a self-stabilizing gait that requires no actuation or control. However, as the slope goes to zero so does the walking speed, and dynamic gait stability is only possible over a very narrow range of slopes. Gomes and Ruina have results demonstrating that by adding a torso to the compass-gait walker, it can walk passively on level-ground with a non-infinitesimal constant average speed. However, the gait involves exaggerated joint movements, and for energetic reasons horizontal passive dynamic walking cannot be stable. We show in this research that in addition to collision-free walking, adding a torso improves stability and walking speed when walking downhill. Furthermore, adding arms to the torso results in a collision-free periodic gait with natural-looking torso and limb movements. Overall, in contrast to the suggestions that active control may be needed to balance an upper-body on legs, it turns out that the upper and lower bodies can be integrated to improve the stability, efficiency and speed of a passive dynamic walker.     

Initial Development of a Novel Amphibious Robot with Transformable Fin-Leg Composite Propulsion Mechanisms

Amphibious robots are very attractive for their broad applications in resource exploration, disaster rescue, and recon- naissance. However, it is very challenging to develop the robots for their complex, amphibious working environments. In the complex amphibious environment, amphibious robots should possess multi-capabilities to walk on rough ground, maneuver underwater, and pass through transitional zones such as sandy and muddy terrain. These capabilities require a high-performance propulsion mechanism for the robots. To tackle a complex task, a novel amphibious robot （AmphiHex-I） with,transformable fin-leg composite propulsion mechanisms is developed. With the fin-leg composite propulsions, AmphiHex-I can walk on rough and soft substrates and swim in water with many maneuvers. This paper presents the structural design of the transformable fin-leg propulsion mechanism and its driving module. A hybrid model is used to explore the dynamics between the trans- formable legs and transitional environment such as granular medium. The locomotion performances of legs with various ellip- tical shapes are analyzed, which is verified by the coincidence between the model predictions and the simulation results. Further, an orthogonal experiment is conducted to study the locomotion performance of a two-legged platform walking with an asyn- chronous gait in the sandy and muddy terrain. Finally, initial experiments of AmphiHex-I walking on various lands and swimming in water are implemented. These results verify that the transformable fin-leg mechanisms enable the amphibious robot to pass through a complex, amphibious working environment.     

Environmental rugosity, body size and access to food: a test of the size-grain hypothesis in tropical litter ants

In terrestrial walking organisms, long legs help to decrease the cost of running, allowing animals to step over environmental interstices rather than walking through them. However, long legs can complicate the infiltration of these interstices, which may contain food sources and refugia. Since the number of environmental interstices perceived by an organism (rugosity) increases as it body size decreases (size-grain hypothesis, SGH), natural selection should favor proportionally smaller legs with decreasing body size. Recent work demonstrated that ants fit this hypothesis. We experimentally tested the assumption of the SGH that small ants, which have proportionally smaller legs than larger ants, are more successful in exploring environmental interstices because they can easily penetrate them. We examined the ability of tropical litter ant species with different body sizes to access food baits in 'landscapes' (=plots) with different levels of rugosity and food exposure. In the first experiment, three levels of landscape rugosity were defined by manipulating the density of leaf litter placed on the ground plots: a) plain landscape: no litter fall, b) intermediate rugosity (∼0.5 kg of litter fall) and c) high rugosity (∼1 kg). In a second experiment, food baits were in plain landscapes, exposed or covered by leaf litter. The body lengths of ants that first accessed food baits ranged from 1.5 to 12 mm. Ants that first reached food baits in the most rugose landscapes were ∼40% smaller than ants that first found baits in plain landscapes. Smaller ants were also the first to access covered food. The application of a phylogenetic comparative method suggested the same patterns. We conclude that these results support the size grain hypothesis. Environmental rugosity might have operated as a selective force to shape the morphological characteristics of litter ant species.     

Walking kinematics and kinetics following eccentric exercise-induced muscle damage

The goal of this investigation was to investigate how walking patterns are affected following muscle-damaging exercise by quantifying both lower limb kinematics and kinetics. Fifteen young women conducted a maximal isokinetic eccentric exercise (EE) muscle damage protocol (5 × 15) of the knee extensors and flexors of both legs at 60°/s. Three-dimensional motion data and ground reaction forces (GRFs) were collected 24 h pre-EE while the participants walked at their preferred self-selected walking speed (SWS). Participants were asked to perform two gait conditions 48 h post-EE. The first condition (COND1) was to walk at their own speed and the second condition (COND2) to maintain the SWS (±5%) they had 24 h pre-EE. Walking speed during COND1 was significantly lower compared to pre-exercise values. When walking speed was controlled during COND2, significant effects of muscle damage were noticed, among other variables, for stride frequency, loading rate, lateral and vertical GRFs, as well as for specific knee kinematics and kinetics. These findings provide new insights into how walking patterns are adapted to compensate for the impaired function of the knee musculature following muscle damage. The importance to distinguish the findings caused by muscle damage from those exhibited in response to changes in stride frequency is highlighted.     

Resonant frequencies of arms and legs identify different walking patterns

The present study is aimed at investigating changes in the coordination of arm and leg movements in young healthy subjects. It was hypothesized that with changes in walking velocity there is a change in frequency and phase coupling between the arms and the legs. In addition, it was hypothesized that the preferred frequencies of the different coordination patterns can be predicted on the basis of the resonant frequencies of arms and legs with a simple pendulum model. The kinematics of arms and legs during treadmill walking in seven healthy subjects were recorded with accelerometers in the sagittal plane at a wide range of different velocities (i.e., 0.3-1. 3m/s). Power spectral analyses revealed a statistically significant change in the frequency relation between arms and legs, i.e., within the velocity range 0.3-0.7m/s arm movement frequencies were dominantly synchronized with the step frequency, whereas from 0.8m/s onwards arm frequencies were locked onto stride frequency. Significant effects of walking speed on mean relative phase between leg and arm movements were found. All limb pairs showed a significantly more stable coordination pattern from 0.8 to 1.0m/s onwards. Results from the pendulum modelling demonstrated that for most subjects at low-velocity preferred movement frequencies of the arms are predicted by the resonant frequencies of individual arms (about 0.98Hz), whereas at higher velocities these are predicted on the basis of the resonant frequencies of the individual legs (about 0.85Hz). The results support the above-mentioned hypotheses, and suggest that different patterns of coordination, as shown by changes in frequency coupling and phase relations, can exist within the human walking mode.     

Oscillations of force in the standing legs of a walking insect (Carausius morosus)

In the experiments presented here adult stick insects (Carausius morosus) walk on a treadwheel with various legs standing on platforms fixed relative to the body of the insect. These standing legs produce large forees directed towards the rear which are modulated in the rhythm of the walking legs. Neighbouring legs which both stand on a platform often oscillate in phase. Possible reasons for the occurrence of the force oscillations are discussed.Supported by DFG (Cr 58/1)     

Locomotory mechanisms in Antarctic pycnogonids

Patterns of walking, modes of joint movement, and individual limb diversity were analysed with the aid of ciné film of several living Antarctic pycnogonids, including the 8-legged Colossendeis australis, C. angusta, Pallenopsis patagonica , and Nymphon sp., the 10-legged Decolopoda australis , and the 12-legged Dodecolopoda mawsoni. Appendage musculature of several of these species and also of the 10-legged Pentapycnon charcoti and Pentanymphon antarcticurn was dissected. At least two distinct morphotypes were identified: a short-legged, crawling variety ( P. charcoti ); and the more typical long-legged, large bodied, walking forms. No gross differences in musculature of joints were noted in the species examined. All joints are, at least superficially, hinge joints. The coxa-body joint is largely immobile, the coxa 1-coxa 2 joint alone exhibits promotion-remotion and all other joints are flexion-extension joints. The 8-legged forms move in an imprecise manner, there being irregularity of leg raising and lowering and where legs touch down in relation to the body and to other legs. The 10- and 12-legged forms exhibit more precise patterns of metachronal leg movements. Although legs move in a basic promotion-remotion, extension-flexion mode, there is a certain degree of twisting of a leg as it is picked up, brought forward, and set down; models indicating how such joint movement occurs were constructed. The possibility that hydrostatic pressure is employed in extension is considered and is found to be remote. Lateral placement of legs, orientated in almost all directions in the horizontal plane of the trunk, achieves a versatility of movement similar to that in crabs. Comments on pycnogonid taxonomic affinities are offered.     

Run,robber, run: parasitic acacia ants use speed and evasion to steal food from ant‐defended trees

Ants that are obligate plant associates protect their host against herbivores and aggressively defend the resources offered by the plant. Workers of Pseudomyrmex nigropilosus Emery (Hymenoptera: Formicidae), an acacia ant that parasitizes the mutualism by not defending the tree, are seen stealing food from other ant‐defended acacia trees. In the present study, hypotheses of evasion, chemical crypsis, chemical repellence and temporal activity patterns are tested in the field aiming to determine how P. nigropilosus enters other acacia trees, successfully circumventing the defence of the resident ants. When parasitic ants are stealing, resident ants are evaded by stopping walking, changing their walking direction or walking faster. Resident and parasitic workers have similar temporal activity patterns. Parasitic workers can walk 2.6‐fold faster compared with any of the three species of acacia‐ants from which they usually steal food. Behavioural assays suggest that P. nigropilosus do not have chemical repellence but that chemical crypsis may be involved in the evasion strategy. This last hypothesis needs to be explored further by chemical and olfactory analyses. The combination of speed and evasive reactions allows parasitic ants to access well‐defended acacia trees.     

Leg coordination and swimming in an ant, Camponotus americanus

ABSTRACT. Leg movements of Camponotus americanus workers during straight swimming and turning are described herein. Thrust is generated through the different speeds and drag control between power v. return strokes in the forelegs. During the power stroke, femur, tibia and tarsus are straightened and thereby increase resistance; they bend backward during the return stroke. These thrusting legs move in a vertical plane which is similar to their position during walking. The backward stretching mesothoracic and metathoracic legs act, in conjunction with the gaster, as a rudder. Swimming in ants can be derived from walking; the major transformation being a suppression of the rhythmic movements of the middle and hind legs.