Flat on its back: the impact of substrate on righting methods of the brown marmorated stink bug, Halyomorpha halys

Pace, Cinnamon M.; Harris, McKenzie

doi:10.1007/s00359-021-01515-0

Cited by 3 publications

(7 citation statements)

References 33 publications

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“…Spotted lanternfly nymphs were observed to self-right successfully in > 92% trials on all substrates tested using propelling and flailing legs, similar to the high success rates found for most insects in previous studies (Faisal and Matheson, 2001;Frantsevich, 2004;Li et al, 2019;Pace and Harris, 2021;Zhang et al, 2021). We found several other similarities between the terrestrial self-righting behaviors of SLF nymphs and other insect species.…”

Section: Discussionsupporting

confidence: 88%

“…SLF nymphs employed three self-righting strategies similar to those used by some cockroaches and beetles (Frantsevich, 2004; Li et al, 2019). The time required for self-righting was similar to that reported for locusts (Faisal and Matheson, 2001), stink bugs Halyomorpha halys (Pace and Harris, 2021) and beetles (Zhang et al, 2021).…”

Section: Discussionsupporting

confidence: 78%

“…There were also some striking differences between species. While the strategies used by beetles and stink bugs (Pace and Harris, 2021; Sasaki and Nonaka, 2016; Zhang et al, 2021) and the times required for overturning by beetles (Zhang et al, 2021) depended significantly on substrate properties, SLF nymphs favored diagonal somersaulting for all three substrates studied and their self-righting times did not depend on substrate. These results likely reflect this species’ ability to cling tenaciously to a wide variety of substrates using a combination of their tarsal claws and arolia (Avanesyan et al, 2019; Kane et al, 2021; Kim et al, 2011).…”

Section: Discussionmentioning

confidence: 97%

“…Here we turn our attention to how SLF nymphs reorient to upright when starting from rest on their backs. SLF nymphs differ from other insect species for which this behavior has been studied (cockroaches (Li et al, 2019), stinkbugs (Pace and Harris, 2021), beetles (Frantsevich, 2004; Zhang et al, 2021), and locusts (Faisal and Matheson, 2001)) in that they have compact, asymmetrical bodies with relatively long legs and, like most robots, they lack wings. We studied SLF nymphs attempting to self-right on several different substrates in order to understand the behaviors used and the underlying mechanisms involved.…”

Section: Introductionmentioning

confidence: 99%

“…Overturned insects benefit from being able to reassume an upright orientation quickly and with low metabolic energy investment, thereby mitigating the risk of predation, hunger, and desiccation. This behavior, which is called terrestrial self-righting when performed while on the ground, has been studied in insects (Full et al 1995; Faisal and Matheson 2001; Li et al 2019; Pace and Harris 2021; Zhang et al 2021), spiders (O’Donnell 2018), frogs (Malashichev 2006), turtles (Domokos and Várkonyi 2007) and rats (Pellis et al 1991). Animals use a rich, diverse range of body and appendage motions to rotate from supine to upright on the ground (Li et al 2019).…”

Section: Introductionmentioning

confidence: 99%

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Using pose estimation and 3D rendered models to study leg-mediated self-righting by lanternflies

Bien

Alexander

et al. 2023

Preprint

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The ability to upright quickly and efficiently when overturned on the ground (terrestrial self-righting) is crucial for living organisms and robots. The emerging field of terradynamics seeks to understand how and why different animals use diverse self-righting strategies. We studied this behavior using high speed multiangle video in nymphs of the invasive spotted lanternfly (SLF, Lycorma delicatula), an insect that must frequently recover from falling in its native habitat. While most insect species previously studied can use wing opening to facilitate overturning, nymphs, like most robots, are wingless. SLFs were highly successful at self-righting (>92% of trials) with no significant difference in the time or number of attempts required for three substrates with varying friction and roughness. These nymphs seldom overturned using the pitching and rolling strategies observed for other insect species, instead primarily flipping upright by rotating around a diagonal body axis. To understand these motions, we used video, photogrammetry and Blender rendering software to create novel, highly realistic 3D models of SLF body poses during each strategy. These models were analyzed using the energy landscape theory of self-righting, which posits that animals use methods that minimize energy barriers to overturning, and inertial morphing, which proposes the animal adjusts its body pose to minimize the rotational inertia during overturning, a theory which has not been applied to self-righting. A combination of both theories was found to explain the observed preferred strategies of this species, indicating the value of using 3D renderings with mechanical modeling for terradynamics and biomimetic applications.

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Section: Discussionsupporting

confidence: 88%

Section: Discussionsupporting

confidence: 78%

Section: Discussionmentioning

confidence: 97%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Using pose estimation and 3D rendered models to study leg-mediated self-righting by lanternflies

Bien

Alexander

et al. 2023

Preprint

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Using Pose Estimation and 3D Rendered Models to Study Leg-Mediated Self-righting by Lanternflies

Bien,

Alexander,

et al. 2024

Integrative and Comparative Biology

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The ability to upright quickly and efficiently when overturned on the ground (terrestrial self-righting) is crucial for living organisms and robots. Previous studies have mapped the diverse behaviors used by various animals to self-right on different substrates, and proposed physical models to explain how body morphology can favor specific self-righting methods. However, to our knowledge no studies have quantified and modeled all of an animal's limb motions during these complicated behaviors. Here, we studied terrestrial self-righting by immature invasive spotted lanternflies (Lycorma delicatula), an insect species that must frequently recover from being overturned after jumping and falling in its native habitat. These nymphs self-righted successfully in 92-100% of trials on three substrates with different friction and roughness, with no significant difference in the time or number of attempts required. They accomplished this using three stereotypic sequences of movements. To understand these motions, we combined 3D poses tracked on multi-view high-speed video with articulated 3D models created using photogrammetry and Blender rendering software. The results were used to calculate the mechanical properties (e.g., potential and kinetic energy, angular speed, stability margin, torque, force, etc.) of these insects during righting trials. We used an inverted physical pendulum model (a “template”) to estimate the kinetic energy available in comparison to the increase in potential energy required to flip over. While these insects began righting using primarily quasistatic motions, they also used dynamic leg motions to achieve final tip-over. However, this template did not describe important features of the insect's center of mass trajectory and rotational dynamics, necessitating the use of an “anchor” model comprising the 3D rendered body model and six articulated two-segment legs to model the body's internal degrees of freedom and capture the role of the legs’ contribution to inertial reorientation. This anchor elucidated the sequence of highly coordinated leg movements these insects used for propulsion, adhesion, and inertial reorientation during righting, and how they frequently pivot about a body contact point on the ground to flip upright. In the most frequently used method, diagonal rotation, these motions allowed nymphs to spin their bodies to upright with lower force with a greater stability margin compared to the other less frequently-used methods. We provide a concise overview of necessary background on 3D orientation and rotational dynamics, and the resources required to apply these low-cost modeling methods to other problems in biomechanics.

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Recent Progress in the Physical Principles of Dynamic Ground Self-Righting

2024

Integrative and Comparative Biology

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Animals and robots must self-right on the ground after overturning. Biology research described various strategies and motor patterns in many species. Robotics research devised many strategies. However, we do not well understand how the physical principles of how the need to generate mechanical energy to overcome the potential energy barrier governs behavioral strategies and 3-D body rotations given the morphology. Here I review progress on this which I led studying cockroaches self-righting on level, flat, solid, low-friction ground, by integrating biology experiments, robotic modeling, and physics modeling. Animal experiments using three species (Madagascar hissing, American, and discoid cockroaches) found that ground self-righting is strenuous and often requires multiple attempts to succeed. Two species (American and discoid cockroaches) often self-right dynamically, using kinetic energy to overcome the barrier. All three species use and often stochastically transition across diverse strategies. In these strategies, propelling motions are often accompanied by perturbing motions. All three species often display complex yet stereotyped body rotation. They all roll more in successful attempts than in failed ones, which lowers the barrier, as revealed by a simplistic 3-D potential energy landscape of a rigid body self-righting. Experiments of an initial robot self-righting via rotation about a fixed axis revealed that, the longer and faster appendages push, the more mechanical energy can be gained to overcome the barrier. However, the cockroaches rarely achieve this. To further understand the physical principles of strenuous ground self-righting, we focused on the discoid cockroach's leg-assisted winged self-righting. In this strategy, wings propel against the ground to pitch the body up but are unable to overcome the highest pitch barrier. Meanwhile, legs flail in the air to perturb the body sideways to self-right via rolling. Experiments using a refined robot and an evolving 3-D potential energy landscape revealed that, although wing propelling cannot generate sufficient kinetic energy to overcome the highest pitch barrier, it reduces the barrier to allow small kinetic energy from the perturbing legs to probabilistically overcome the barrier to self-right via rolling. Thus, only by combining propelling and perturbing can self-righting be achieved, when it is so strenuous; this physical constraint leads to the stereotyped body rotation. Finally, multi-body dynamics simulation and template modeling revealed that the animal's substantial randomness in wing and leg motions help it by chance to find good coordination, which accumulates more mechanical energy to overcome the barrier, thus increasing the likelihood of self-righting.

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Flat on its back: the impact of substrate on righting methods of the brown marmorated stink bug, Halyomorpha halys

Cited by 3 publications

References 33 publications

Using pose estimation and 3D rendered models to study leg-mediated self-righting by lanternflies

Using pose estimation and 3D rendered models to study leg-mediated self-righting by lanternflies

Using Pose Estimation and 3D Rendered Models to Study Leg-Mediated Self-righting by Lanternflies

Recent Progress in the Physical Principles of Dynamic Ground Self-Righting

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