Effects of substrate diameter on locomotor biodynamics were studied in the gray short-tailed opossum (Monodelphis domestica). Two horizontal substrates were used: a flat 'terrestrial' trackway with a force platform integrated into the surface and a cylindrical 'arboreal' trackway (20.3·mm diameter) with a force-transducer instrumented region. On both terrestrial and arboreal substrates, fore limbs exhibited higher vertical impulse and peak vertical force than hind limbs. Although vertical limb impulses were lower on the terrestrial substrate than on the arboreal support, this was probably due to speed effects because the opossums refused to move as quickly on the arboreal trackway. Vertical impulse decreased significantly faster with speed on the arboreal substrate because most of these trials were relatively slow, and stance duration decreased with speed more rapidly at these lower speeds. While braking and propulsive roles were more segregated between limbs on the terrestrial trackway, fore limbs were dominant both in braking and in propulsion on the arboreal trackway. Both fore and hind limbs exerted equivalently strong, medially directed limb forces on the arboreal trackway and laterally directed limb forces on the terrestrial trackway. We propose that the modifications in substrate reaction force on the arboreal trackway are due to the differential placement of the limbs about the dorsolateral aspect of the branch. Specifically, the pes typically made contact with the branch lower and more laterally than the manus, which may explain the significantly lower required coefficient of friction in the fore limbs relative to the hind limbs.

Specialization for a locomotor behaviour may affect limb bone morphology throughout ontogeny. Ontogenetic development of the limb skeletons of two mammalian species, which are behaviourally specialized for the half-bounding gait (Chinchilla lanigera and Oryctolagus cuniculus), were compared to two similarly-sized species which are not specialized for half-bounding (Rattus norvegicus and Monodelphis domestica). Limb bone lengths and anteroposterior diameters (mediolateral diameters for the radius and metacarpal) were measured from radiographs taken throughout the ontogeny of each species. Body mass was also measured repeatedly during growth. Bone measurements were regressed against body mass, as well as forelimb bone length vs serially homologous hindlimb bone length, bone length vs total limb length and bone length vs width. Similar comparisons were made among adults of each species using ratios. Although there were many signi®cant differences among species, overall there were few consistent differences in adult scaling ratios or ontogenetic allometry slopes between specialized and generalized groups. Adult specialized half-bounders had signi®cantly narrower tibiae and metatarsals than the gaitgeneralized runners. Specialized half-bounders usually had similar slopes for hindlimb length vs width ontogenetic comparisons, but the non-specialized species did not group together. However, there were two patterns that occurred among all four species: (1) hindlimb bone lengths nearly always grew faster than the serially homologous forelimb bone lengths in all species; (2) proximal elements usually increased in length proportionally faster than distal elements. In conclusion, small mammals may share strong developmental constraints that govern their relative growth rates. It is also likely that there are different selective pressures on juveniles and adults, but that these selective pressures may not be different between specialized and unspecialized runners during ontogeny.

SUMMARY Small terrestrial animals continually encounter sloped substrates when moving about their habitat; therefore, it is important to understand the mechanics and kinematics of locomotion on non-horizontal substrates as well as on level terrain. To this end, we trained gray short-tailed opossums(Monodelphis domestica) to move along level, 30° inclined, and 30° declined trackways instrumented with a force platform. Vertical,craniocaudal and mediolateral impulses, peak vertical forces, and required coefficient of friction (μreq) of individual limbs were calculated. Two high speed video cameras were used to simultaneously capture whole limb craniocaudal and mediolateral angles at limb touchdown, midstance and lift-off. Patterns on the level terrain were typical for non-primate quadrupeds: the forelimbs supported the majority of the body weight, forelimbs were net braking and hindlimbs net propulsive, and both limb pairs exerted small laterally directed impulses. M. domestica moved more slowly on sloped substrates in comparison to level locomotion, and exhibited a greaterμ req. On inclines, both limb pairs were more protracted at touchdown and more retracted at lift-off, fore- and hindlimbs had equal roles in body weight support, forelimbs exerted greater propulsive impulse than hindlimbs, and μreq was greater in the forelimbs than in hindlimbs. On declines, only the forelimbs were more protracted at touchdown;forelimbs supported the great majority of body weight while they generated nearly all of the braking impulse and, despite the disparity in fore-vs hindlimb function on the decline, μreq was not significantly different between limbs. These differences on the inclined and declined surfaces most likely result from (1) the location of the opossums'center of mass, which is closer to the forelimbs than to the hindlimbs, and(2) the greater functional range of the forelimbs versus the hindlimbs.

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