Invertebrate Locomotor Systems

Full, Robert J.

doi:10.1002/cphy.cp130212

Cited by 83 publications

(68 citation statements)

References 417 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…1). Adults and juveniles show similar Froude numbers, ranging from 0.99 to 2.03 depending on temperature, and conforming broadly to values published for other running arthropods (Biewener, 2003;Full, 2011) and for symmetrical gaits in tetrapods, consistent with the dynamic similarity hypothesis (Alexander and Jayes, 1983). To put this in context, running mammals and lizards typically transition to asymmetric gaits at Froude numbers between 2 and 3.…”

Section: Discussionsupporting

confidence: 84%

“…7; Wu et al, 2010) indicates that the muscle contraction frequencies are likely optimized to exploit limb resonance for energy efficiency and are not limited by the forcevelocity trade-off (Full, 2011). Because muscle force scales in proportion to cross-sectional area (∝M 0.67 ), the relative muscle force per unit mass (F/M ) scales as M −0.33 (M 0.67 /M 1 ), increasing as animals get smaller.…”

Section: Discussionmentioning

confidence: 99%

“…The negative scaling of v r and f with body mass appears to hold true for other terrestrial taxa (Biewener, 2003;Full, 2011). However, scaling models based on vertebrates may not provide good predictors for behavior in very small animals below 1 g in mass.…”

Section: Introductionmentioning

confidence: 94%

See 2 more Smart Citations

Exceptional running and turning performance in a mite

Rubin

Young

Wright

et al. 2016

Journal of Experimental Biology

View full text Add to dashboard Cite

The Southern California endemic mite Paratarsotomus macropalpis was filmed in the field on a concrete substrate and in the lab to analyze stride frequency, gait and running speed under different temperature conditions and during turning. At ground temperatures ranging from 45 to 60°C, mites ran at a mean relative speed of 192.4±2.1 body lengths (BL) s , exceeding the highest previously documented value for a land animal by 12.5%. Stride frequencies were also exceptionally high (up to 135 Hz), and increased with substrate temperature. Juveniles exhibited higher relative speeds than adults and possess proportionally longer legs, which allow for greater relative stride lengths. Although mites accelerated and decelerated rapidly during straight running (7.2±1.2 and −10.1±2.1 m s −2 , respectively), the forces involved were comparable to those found in other animals. Paratarsotomus macropalpis employs an alternating tetrapod gait during steady running. Shallow turns were accomplished by a simple asymmetry in stride length. During tight turns, mites pivoted around the tarsus of the inside third leg (L3), which thus behaved like a grappling hook. Pivot turns were characterized by a 42% decrease in turning radius and a 40% increase in angular velocity compared with non-pivot turns. The joint angle amplitudes of the inner L2 and L3 were negligible during a pivot turn. While exceptional, running speeds in P. macropalpis approximate values predicted from inter-specific scaling relationships.

show abstract

Section: Discussionsupporting

confidence: 84%

Section: Discussionmentioning

confidence: 99%

See 1 more Smart Citation

Exceptional running and turning performance in a mite

Rubin

Young

Wright

et al. 2016

Journal of Experimental Biology

View full text Add to dashboard Cite

show abstract

“…Net cost of transport (NCT) for C. moorei calculated from external work assuming efficiencies of 0.8%, 6% and 20% (filled circles), in contrast to the NCT for crawlers and terrestrial burrowers, including a marsupial mole burrowing in desert sands (Withers et al, 2000), a hopping mouse while excavating a burrow (White et al, 2006) and a scorpion excavating a permanent burrow (White, 2001) (black crosses) and correlations for running, flying and swimming (black lines) calculated from metabolic rates. Correlations for NCT for running, flying and swimming are from Full (Full, 1997) and for external work of running are from Full (Full, 1991).…”

Section: External Work To Burrow In Sediments Versus In Gelatinmentioning

confidence: 99%

Energetics of burrowing by the cirratulid polychaeteCirriformia moorei

Dorgan

Lefebvre

Stillman

et al. 2011

Journal of Experimental Biology

View full text Add to dashboard Cite

SUMMARYBurrowing through marine sediments has been considered to be much more energetically expensive than other forms of locomotion, but previous studies were based solely on external work calculations and lacked an understanding of the mechanical responses of sediments to forces applied by burrowers. Muddy sediments are elastic solids through which worms extend crackshaped burrows by fracture. Here we present data on energetics of burrowing by Cirriformia moorei. We calculated the external energy per distance traveled from the sum of the work to extend the burrow by fracture and the elastic work done to displace sediment as a worm moves into the newly formed burrow to be 9.7Jkg -1 m -1 in gelatin and 64Jkg -1 m -1 in sediment, much higher than for running or walking. However, because burrowing worms travel at slow speeds, the increase in metabolic rate due to burrowing is predicted to be small. We tested this prediction by measuring aerobic metabolism (oxygen consumption rates) and anaerobic metabolism (concentrations of the anaerobic metabolite tauropine and the energy-storage molecule phosphocreatine) of C. moorei. None of these components was significantly different between burrowing and resting worms, and the low increases in oxygen consumption rates or tauropine concentrations predicted from external work calculations were within the variability observed across individuals. This result suggests that the energy to burrow, which could come from aerobic or anaerobic sources, is not a substantial component of the total metabolic energy of a worm. Burrowing incurs a low cost per unit of time.Supplementary material available online at

show abstract

“…Biology has long been a source of inspiration for engineers making ever-more capable machines 1 . Softness and body compliance are salient features often exploited by biological systems, which tend to seek simplicity and exhibit reduced complexity in their interactions with their environment 2 .…”

Section: Introductionmentioning

confidence: 99%

Design, fabrication and control of soft robots

Rus

Tolley

2015

Nature

4,340

2,656

View full text Add to dashboard Cite

Conventionally, engineers have employed rigid materials to fabricate precise, predictable robotic systems, which are easily modeled as rigid members connected at discrete joints. Natural systems, however, often match or exceed the performance of robotic systems with deformable bodies. Cephalopods, for example, achieve amazing feats of manipulation and locomotion without a skeleton; even vertebrates like humans achieve dynamic gaits by storing elastic energy in their compliant bones and soft tissues. Inspired by nature, engineers have begun to explore the design and control of soft-bodied robots composed of compliant materials. This Review discusses recent developments in the emerging field of soft robotics.

show abstract

Invertebrate Locomotor Systems

Cited by 83 publications

References 417 publications

Exceptional running and turning performance in a mite

Exceptional running and turning performance in a mite

Energetics of burrowing by the cirratulid polychaeteCirriformia moorei

Design, fabrication and control of soft robots

Contact Info

Product

Resources

About