Stability in legged locomotion

Stability is a key element in a gait synthesis. Static stability margins are widely adopted in crawlers, while no similar approach has been developed for dynamically stable systems. Utilizing an analytical approach, we developed a set of easy-to-calculate stability indices to describe instantaneous static and dynamic (In)stability for a certain group of walking systems. The analysis is based on a thorough analysis of the interaction between ground reaction forces and the walking system. The indices are applicable to walking systems regardless of the number of legs or mechanical/biological design. We show that static and dynamic stability are independent of each other. We suggest a possible categorization of gait modes based on stability. Stability characteristics are analyzed in a healthy and highly pathological human gait. Finally, we discuss the applicability of the proposed methods.     

Kinematics of soft-bodied, legged locomotion in Manduca sexta larvae

Caterpillar crawling is distinct from that of worms and molluscs; it consists of a series of steps in different body segments that can be compared to walking and running in animals with stiff skeletons. Using a three-dimensional kinematic analysis of horizontal crawling in Manduca sexta, the tobacco hornworm, we found that the phase of vertical displacement in the posterior segments substantially led changes in horizontal velocity and the segments appeared to pivot around the attached claspers. Both of the motions occur during vertebrate walking. In contrast, vertical displacement and horizontal velocity in the anterior proleg-bearing segments were in phase, as expected for running gaits coupled by elastic storage. We propose that this kinematic similarity to running results from the muscular compression and release of elastic tissues. As evidence in support of this proposal, the compression and extension of each segment were similar to harmonic oscillations in a spring, although changes in velocity were 70 degrees out of phase with displacement, suggesting that the spring was damped. Measurements of segment length within, and across, intersegmental boundaries show that some of these movements were caused by folding of the body wall between segments. These findings demonstrate that caterpillar crawling is not simply the forward progression of a peristaltic wave but has kinetic components that vary between segments. Although these movements can be compared to legged locomotion in animals with stiff skeletons, the underlying mechanisms of caterpillar propulsion, and in particular the contribution of elastic tissues, remain to be discovered.     

A unified theory for the energy cost of legged locomotion

Small animals are remarkably efficient climbers but comparatively poor runners, a well-established phenomenon in locomotor energetics that drives size-related differences in locomotor ecology yet remains poorly understood. Here, I derive the energy cost of legged locomotion from two complementary components of muscle metabolism, Activation–Relaxation and Cross-bridge cycling. A mathematical model incorporating these costs explains observed patterns of locomotor cost both within and between species, across a broad range of animals (insects to ungulates), for a wide range of substrate slopes including level running and vertical climbing. This ARC model unifies work- and force-based models for locomotor cost and integrates whole-organism locomotor cost with cellular muscle physiology, creating a predictive framework for investigating evolutionary and ecological pressures shaping limb design and ranging behaviour.     

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.     

Evolutionary aspects of primate locomotion

Both neontological and phylogenetic studies are necessary to interpret primate locomotion. Reference to palaeoprimatology and palaeocology, for instance, will lead to a fuller understanding of the roots of such gaits as the vertical clinging and leaping of Tarsius, Indri and Propithecus. Evolutionary trends in posture and locomotion are discussed. The postural trend has been towards maintenance of trunk verticality and the locomotor trend towards an increasing dependence on the forelimbs among arboreal primates. Three stages are recognized in the phylogenetic course of arboreal locomotor adaptation: Stage A. Vertical clinging and leaping; Stage B. Quadrupedalism; Stage C. Brachiation. The role of prehensility of the hand in the evolution of locomotor types is discussed in relation to forest morphology and, in particular, to stratification. Finally a scheme of evolution, set in the framework of ecology, for Old World Monkey groups is presented.     

Mechanical aspects of silicone coatings for hard foulant control

Barnacle release mechanisms and the durability of silicone coatings have been studied. Release studies were performed on both transparent, single‐layer silicone coatings and duplex silicone coatings. The release forces of pseudobarnacles (epoxied studs) and Chesapeake Bay barnacles (Balanus improvisus) were measured with a pull‐off (tension) tester; modes of release were revealed in video recordings of the separation process from transparent coatings on glass. Scratch tests with 0.8 mm spherically‐tipped diamond provided a measure of durability (tear resistance). Release forces from both coatings decreased as coating thickness increased. Both pseudobarnacles and barnacles separated by a peeling process, although differences in peeling modes were seen. The durability of coatings increased with increasing coating thickness. Release behavior is discussed in terms of a fracture mechanic's model for pull‐off separation, and the differences in adhesion between barnacles and pseudobarnacles are described.     

Dynamics and stability of legged locomotion in the horizontal plane: a test case using insects

 Motivated by experimental studies of insects, we propose a model for legged locomotion in the horizontal plane. A three-degree-of freedom, energetically conservative, rigid-body model with a pair of compliant virtual legs in intermittent contact with the ground allows us to study how dynamics depends on parameters such as mass, moment of inertia, leg stiffness, and length. We find periodic gaits, and show that mechanics alone can confer asymptotic stability of relative heading and body angular velocity. We discuss the relevance of our idealized models to experiments and simulations on insect running, showing that their gait and force characteristics match observations reasonably well. We perform parameter studies and suggest that our model is relevant to the understanding of locomotion dynamics across species. Received: 17 April 2001 / Accepted in revised form: 20 November 2001     

Mechanical aspects of apoptosome assembly

Killing a cell through apoptosis ultimately rests on the mechanical destruction of the structure and function of cellular machineries. Understanding the mechanics of one particular function is usually the last step in our quest to decipher the underlying molecular mechanism. Execution of apoptosis is initiated by the activation of initiator caspases, which is mediated by specific adaptor protein complexes generally known as apoptosomes. This review discusses the assembly, structure and function of the heptameric Apaf-1 apoptosome, the tetrameric CED-4 complex, the octameric Dark apoptosome, and the death-inducing signaling complex (DISC).     

Mechanical aspects of cardiac development

Heart development depends on a dynamic interaction between genetic and epigenetic factors. This paper discusses some of the biomechanical processes that help shape the heart in the embryo. First, an overview is given of some of the critical events that occur during cardiac development. Next, mechanics and modeling strategies are discussed for the morphogenetic processes of cardiac tube formation, cardiac looping, myocardial trabeculation, septation, valve formation, and muscle-fiber alignment. Finally, some considerations for future work in this area are listed.