Structural Design and Biomechanics of Friction-Based Releasable Attachment Devices in Insects

Gorb, Stanislav N.; Beutel, Rolf G.; Gorb, Elena V.; Yi, Jae-Seon; Kastner, Victoria; Niederegger, Senta; Popov, Valentin L.; Scherge, Matthias; Schwarz, Uli; Vötsch, Walter

doi:10.1093/icb/42.6.1127

Cited by 166 publications

(81 citation statements)

References 43 publications

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“…Similar results were recently described in spiders, where the collective effect of several legs during simultaneous attachment was stronger than the mathematical sum of adhesive forces generated by individual legs [56]. In centrifugation tests, larvae could withstand greater centrifugal forces on the horizontal than on the vertical Plexiglas drum surface, consistent with experiments performed with other insect species [57].…”

Section: Discussionsupporting

confidence: 87%

Locomotion and attachment of leaf beetle larvaeGastrophysa viridula(Coleoptera, Chrysomelidae)

2015

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While adult green dock leaf beetles Gastrophysa viridula use tarsal adhesive setae to attach to and walk on smooth vertical surfaces and ceilings, larvae apply different devices for similar purposes: pretarsal adhesive pads on thoracic legs and a retractable pygopod at the 10th abdominal segment. Both are soft smooth structures and capable of wet adhesion. We studied attachment ability of different larval instars, considering the relationship between body weight and real contact area between attachment devices and the substrate. Larval gait patterns were analysed using high-speed video recordings. Instead of the tripod gait of adults, larvae walked by swinging contralateral legs simultaneously while adhering by the pygopod. Attachment ability of larval instars was measured by centrifugation on a spinning drum, revealing that attachment force decreases relative to weight. Contributions of different attachment devices to total attachment ability were investigated by selective disabling of organs by covering them with melted wax. Despite their smaller overall contact area, tarsal pads contributed to a larger extent to total attachment ability, probably because of their distributed spacing. Furthermore, we observed different behaviour in adults and larvae when centrifuged: while adults gradually slipped outward on the centrifuge drum surface, larvae stayed at the initial position until sudden detachment.

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Section: Discussionsupporting

confidence: 87%

Locomotion and attachment of leaf beetle larvaeGastrophysa viridula(Coleoptera, Chrysomelidae)

2015

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“…First, an improved understanding of foot contact mechanics is needed to provide insight into the complexities of thrust generation beyond simple coulomb friction-type attachments that include interlocking (14,54,55), adhesion (56)(57)(58), and resistive forces in granular media (7,59). Second, a leg actuation model that more effectively captures dependence of force production on such factors such as leg morphology, lever and transmission systems, and muscle mechanics (21).…”

Section: Resultsmentioning

confidence: 99%

Cockroaches traverse crevices, crawl rapidly in confined spaces, and inspire a soft, legged robot

Jayaram

Full

2016

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

145

112

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Jointed exoskeletons permit rapid appendage-driven locomotion but retain the soft-bodied, shape-changing ability to explore confined environments. We challenged cockroaches with horizontal crevices smaller than a quarter of their standing body height. Cockroaches rapidly traversed crevices in 300-800 ms by compressing their body 40-60%. High-speed videography revealed crevice negotiation to be a complex, discontinuous maneuver. After traversing horizontal crevices to enter a vertically confined space, cockroaches crawled at velocities approaching 60 cm·s −1 , despite body compression and postural changes. Running velocity, stride length, and stride period only decreased at the smallest crevice height (4 mm), whereas slipping and the probability of zigzag paths increased. To explain confined-space running performance limits, we altered ceiling and ground friction. Increased ceiling friction decreased velocity by decreasing stride length and increasing slipping. Increased ground friction resulted in velocity and stride length attaining a maximum at intermediate friction levels. These data support a model of an unexplored mode of locomotion-"body-friction legged crawling" with body drag, friction-dominated leg thrust, but no media flow as in air, water, or sand. To define the limits of body compression in confined spaces, we conducted dynamic compressive cycle tests on living animals. Exoskeletal strength allowed cockroaches to withstand forces 300 times body weight when traversing the smallest crevices and up to nearly 900 times body weight without injury. Cockroach exoskeletons provided biological inspiration for the manufacture of an origami-style, soft, legged robot that can locomote rapidly in both open and confined spaces.T he emergence of terradynamics (1) has advanced the study of terrestrial locomotion by further focusing attention on the quantification of complex and diverse animal-environment interactions (2). Studies of locomotion over rough terrain (3), compliant surfaces (4), mesh-like networks (5), and sand (6-8), and through cluttered, 3D terrain (9) have resulted in the discovery of new behaviors and novel theory characterizing environments (10). The study of climbing has led to undiscovered templates (11) that define physical interactions through frictional van der Waals adhesion (12, 13) and interlocking with claws (14) and spines (5). Burrowing (15, 16), sand swimming (17), and locomotion in tunnels (18) have yielded new findings determining the interaction of bodies, appendages, and substrata.Locomotion in confined environments offers several challenges for animals (18) that include limitations due to body shape changes (19,20), restricted limb mobility (21), increased body drag, and reduced thrust development (22). Examining the motion repertoire of soft-bodied animals (23), such as annelids (19), insect larvae (24), and molluscs (25), has offered insight into a range of strategies used to move in confined spaces. Inspiration from softbodied animals has fueled the explosive growth in soft robo...

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“…Protuberances are thought to be contact-minimizing structures, e.g., on the body of springtails (Eisenbeis & Wichard, 1985). In the case of those that occur in all insects at joints such as the insertion points of the head, antennae and mouthparts, they serve as intersegmental fixators (Gorb et al, 2002;Gorb, 2008). In A. juniperi the sensory area covers about half of the inner surface of the terminal palpomere (Fig.…”

Section: Structures Studied Headmentioning

confidence: 99%

The first holistic SEM study of Coniopterygidae (Neuroptera) - structural evidence and phylogenetic implications

Zimmermann¹,

Klepal²,

Aspöck³

2009

Eur. J. Entomol.

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Abstract. Adults of two coniopterygid species, Aleuropteryx juniperi Ohm, 1968 (Aleuropteryginae) and Semidalis aleyrodiformis (Stephens, 1836) (Coniopteryginae), were studied using scanning electron microscopy. Interspecific differences in the ultrastructure of the integument of all the major parts of the body were identified and described, and the functional and phylogenetic implications of the differences discussed. Additionally, the enlarged terminal segment of the labial palps of the Coniopterygidae and the Sisyridae, which up to now has been used as an argument for a sister-group relationship between these two families, was subjected to a thorough comparison. The very different morphology makes independent enlargement of the terminal palpal segment in both families plausible. This finding is congruent with the earlier hypothesis of a sister-group relationship between Coniopterygidae and the dilarid clade, which was proposed on the basis of molecular data, larval morphology and male genital sclerites. Finally, a new classification of the coniopterygid subfamilies is presented based on characters of the larval head (prominence of the ocular region, relative length of sucking stylets). The following relationship is hypothesized: (Brucheiserinae + Coniopteryginae) + Aleuropteryginae, and the implications of this hypothesis for the phylogenetic interpretation of the ultrastructural differences that we found are discussed: (1) The wax glands, as well as plicatures, are interpreted as belonging to the ground pattern of the family Coniopterygidae, and (2) the wax glands are considered to have been reduced in Brucheiserinae and the plicatures in Coniopteryginae. A distinct (though reduced) spiraculum 8 was detected in Semidalis aleyrodiformis; as a consequence the hypothesis that the loss of spiraculum 8 is an autapomorphy of Coniopteryginae is refuted."Phylogenetic hypotheses must largely remain matters of individual opinion, and while the writer considers himself to have selected significant facts, time alone can prove their worth." (Withycombe, 1925)

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Structural Design and Biomechanics of Friction-Based Releasable Attachment Devices in Insects

Cited by 166 publications

References 43 publications

Locomotion and attachment of leaf beetle larvaeGastrophysa viridula(Coleoptera, Chrysomelidae)

Locomotion and attachment of leaf beetle larvaeGastrophysa viridula(Coleoptera, Chrysomelidae)

Cockroaches traverse crevices, crawl rapidly in confined spaces, and inspire a soft, legged robot

The first holistic SEM study of Coniopterygidae (Neuroptera) - structural evidence and phylogenetic implications

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