Differential leg function in a sprawled-posture quadrupedal trotter

Chen, J. J.; Peattie, Anne M.; Autumn, Kellar; Full, Robert J.

doi:10.1242/jeb.01979

Cited by 104 publications

(94 citation statements)

References 47 publications

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“…Digital action in the same species during horizontal running was, however, not reported (Chen et al 2006). Differences in locomotor energetics on horizontal and vertical surfaces (Autumn et al 2006b;Chen et al 2006) are suggestive of a trade-off in locomotor performance in the transition from level running to climbing. This may be related to the deployment of the adhesive system in climbing and the additional level of control this necessitates.…”

Section: Introductionmentioning

confidence: 92%

A new angle on clinging in geckos: incline, not substrate, triggers the deployment of the adhesive system

2009

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Lizards commonly climb in complex three-dimensional habitats, and gekkotans are particularly adept at doing this by using an intricate adhesive system involving setae on the ventral surface of their digits. However, it is not clear whether geckos always deploy their adhesive system, given that doing so may result in decreased (i.e. reduction in speed) locomotor performance. Here, we investigate circumstances under which the adhesive apparatus of clinging geckos becomes operative, and examine the potential tradeoffs between speed and clinging. We quantify locomotor kinematics of a gecko with adhesive capabilities (Tarentola mauritanica) and one without (Eublepharis macularius). Whereas, somewhat unusually, E. macularius did not suffer a decrease in locomotor performance with an increase in incline, T. mauritanica exhibited a significant decrease in speed between the level and a 108 incline. We demonstrate that this results from the combined influence of slope and the deployment of the adhesive system. All individuals kept their digits hyperextended on the level, but three of the six individuals deployed their adhesive system on the 108 incline, and they exhibited the greatest decrease in velocity. The deployment of the adhesive system was dependent on incline, not surface texture (600 grit sandpaper and Plexiglas), despite slippage occurring on the level Plexiglas substrate. Our results highlight the type of sensory feedback (gravity) necessary for deployment of the adhesive system, and the trade-offs associated with adhesion.

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Section: Introductionmentioning

confidence: 92%

A new angle on clinging in geckos: incline, not substrate, triggers the deployment of the adhesive system

2009

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“…To examine the tail's role in each behavior, we studied the flat-tailed house gecko, Cosymbotus platyurus, because it is agile and has a sizeable, active tail. Moreover, the dynamics of house geckos' horizontal running (14) and vertical climbing (1) are well characterized. Our results suggest that large tails not only serve as passive structures that store fat (8,15), provide balance, and give a grip, but also function as highly active control appendages.…”

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confidence: 99%

Active tails enhance arboreal acrobatics in geckos

Jusufi

Goldman

Revzen

et al. 2008

Proc. Natl. Acad. Sci. U.S.A.

206

232

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Geckos are nature's elite climbers. Their remarkable climbing feats have been attributed to specialized feet with hairy toes that uncurl and peel in milliseconds. Here, we report that the secret to the gecko's arboreal acrobatics includes an active tail. We examine the tail's role during rapid climbing, aerial descent, and gliding. We show that a gecko's tail functions as an emergency fifth leg to prevent falling during rapid climbing. A response initiated by slipping causes the tail tip to push against the vertical surface, thereby preventing pitch-back of the head and upper body. When pitch-back cannot be prevented, geckos avoid falling by placing their tail in a posture similar to a bicycle's kickstand. Should a gecko fall with its back to the ground, a swing of its tail induces the most rapid, zero-angular momentum air-righting response yet measured. Once righted to a sprawled gliding posture, circular tail movements control yaw and pitch as the gecko descends. Our results suggest that large, active tails can function as effective control appendages. These results have provided biological inspiration for the design of an active tail on a climbing robot, and we anticipate their use in small, unmanned gliding vehicles and multisegment spacecraft.

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“…In particular, many animals move with easiness in a variety of complex surfaces using highly evolved feet. For example, the ability of geckos [7][8][9], insects [10][11][12][13][14], and spiders [15,16] to move on different types of surfaces is valuable to bionic design. Moreover, the stability, flexibility, robustness, adaptability, and use of energy displayed by animals are still challenges for bionic robots [17].…”

Section: Introductionmentioning

confidence: 99%

Use of opposite frictional forces by animals to increase their attachment reliability during movement

2013

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Many animals have the natural ability to move on various surfaces, such as those having different roughness and slope substrates, or even vertical walls and ceilings. Legged animals primarily attach to surfaces using claws, soft and hairy pads, or combinations of them. Recent studies have indicated that the frictional forces generated by these structures not only control the movement of animals but also significantly increase the reliability of their attachment. Moreover, the frictional forces of various animals have opposite characteristics and hierarchical properties from toe-to-toe and leg-to-leg. These opposite frictional forces allow animals to attach securely and stably during movement. The coordination of several attachment (adhesion) modes not only helps animals adhere, which would be impossible in single mode, but also increases the overall stability of the attachment (adhesion) system. These findings can help the design of highly adaptable feet for bionic robots in the near future.

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Differential leg function in a sprawled-posture quadrupedal trotter

Cited by 104 publications

References 47 publications

A new angle on clinging in geckos: incline, not substrate, triggers the deployment of the adhesive system

A new angle on clinging in geckos: incline, not substrate, triggers the deployment of the adhesive system

Active tails enhance arboreal acrobatics in geckos

Use of opposite frictional forces by animals to increase their attachment reliability during movement

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