Kinetics of leaping primates: influence of substrate orientation and compliance

Impact of hindlimb length variation on jumping dynamics in the Longshanks mouse

Distantly related mammals (e.g. jerboa, tarsiers, kangaroos) have convergently evolved elongated hindlimbs relative to body size. Limb elongation is hypothesized to make these species more effective jumpers by increasing their kinetic energy output (through greater forces or acceleration distances), thereby increasing take-off velocity and jump distance. This hypothesis, however, has rarely been tested at the population level, where natural selection operates. We examined the relationship between limb length, muscular traits and dynamics using Longshanks mice, which were selectively bred over 22 generations for longer tibiae. Longshanks mice have approximately 15% longer tibiae and 10% longer femora compared with random-bred Control mice from the same genetic background. We collected in vivo measures of locomotor kinematics and force production, in combination with behavioral data and muscle morphology, to examine how changes in bone and muscle structure observed in Longshanks mice affect their hindlimb dynamics during jumping and clambering. Longshanks mice achieved higher mean and maximum lunge-jump heights than Control mice. When jumping to a standardized height (14 cm), Longshanks mice had lower maximum ground reaction forces, prolonged contact times and greater impulses, without significant differences in average force, power or whole-body velocity. While Longshanks mice have longer plantarflexor muscle bodies and tendons than Control mice, there were no consistent differences in muscular cross-sectional area or overall muscle volume; improved lunge-jumping performance in Longshanks mice is not accomplished by simply possessing larger muscles. Independent of other morphological or behavioral changes, our results point to the benefit of longer hindlimbs for performing dynamic locomotion.

Vertical climbing in free-ranging bonobos: An exploratory study integrating locomotor performance and substrate compliance

OBJECTIVES

Ecological factors and body size shape animal movement and adaptation. Large primates such as bonobos excel in navigating the demanding substrates of arboreal habitats. However, current approaches lack comprehensive assessment of climbing performance in free-ranging individuals, limiting our understanding of locomotor adaptations. This study aims to explore climbing performance in free-ranging bonobos and how substrate properties affect their behavior.

METHODS

We collected data on the climbing performance of habituated bonobos, Pan paniscus, in the Bolobo Territory, Democratic Republic of Congo. We analyzed 46 climbing bouts (12 ascents, 34 descents) while moving on vertical substrates of varying diameter and compliance levels. This study assessed the average speed, peak acceleration, resting postures, and transitions between climbing and other locomotor modes.

RESULTS

During climbing sequences and transitions, bonobos mitigate speed variations. They also exhibit regular pauses during climbing and show higher speeds during descent in contrast to their ascent. Regarding the influence of substrate properties, bonobos exhibit higher speed when ascending on thin and slightly flexible substrates, while they appear to achieve higher speeds when descending on large and stiff substrates, by using a "fire-pole slide" submode.

DISCUSSION

Bonobos demonstrate remarkable abilities for negotiating vertical substrates and substrate properties influence their performance. Our results support the idea that bonobos adopt a behavioral strategy that aligns with the notion of minimizing costs. Overall, the adoption of high velocities and the use of low-cost resting postures may reduce muscle fatigue. These aspects could represent important targets of selection to ensure ecological efficiency in bonobos.

Pump and sway: Wild primates use compliant supports as a tool to augment leaping in the canopy

OBJECTIVES

Despite qualitative observations of wild primates pumping branches before leaping across gaps in the canopy, most studies have suggested that support compliance increases the energetic cost of arboreal leaping, thus limiting leaping performance. In this study, we quantified branch pumping behavior and tree swaying in wild primates to test the hypothesis that these behaviors improve leaping performance.

MATERIALS AND METHODS

We recorded wild colobine monkeys crossing gaps in the canopy and quantitatively tracked the kinematics of both the monkey and the compliant support during behavioral sequences. We also empirically measured the compliance of a sample of locomotor supports in the monkeys' natural habitat, allowing us to quantify the resonant properties of substrates used during leaping.

RESULTS

Analyses of three recordings show that adult red colobus monkeys (Piliocolobus tephrosceles) use branch compliance to their advantage by actively pumping branches before leaping, augmenting their vertical velocity at take-off. Quantitative modeling of branch resonance periods, based on empirical measurements of support compliance, suggests that monkeys specifically employed branch pumping on relatively thin branches with protracted periods of oscillation. Finally, an additional four recordings show that both red colobus and black and white colobus monkeys (Colobus guereza) utilize tree swaying to cross large gaps, augmenting horizontal velocity at take-off.

DISCUSSION

This deliberate branch manipulation to produce a mechanical effect for stronger propulsion is consistent with the framework of instrumental problem-solving. To our knowledge, this is the first study of wild primates which quantitatively shows how compliant branches can be used advantageously to augment locomotor performance.

Device for Measuring Contact Reaction Forces during Animal Adhesion Landing/Takeoff from Leaf-like Compliant Substrates

A precise measurement of animal behavior and reaction forces from their surroundings can help elucidate the fundamental principle of animal locomotion, such as landing and takeoff. Compared with stiff substrates, compliant substrates, like leaves, readily yield to loads, presenting grand challenges in measuring the reaction forces on the substrates involving compliance. To gain insight into the kinematic mechanisms and structural-functional evolution associated with arboreal animal locomotion, this study introduces an innovative device that facilitates the quantification of the reaction forces on compliant substrates, like leaves. By utilizing the stiffness-damping characteristics of servomotors and the adjustable length of a cantilever structure, the substrate compliance of the device can be accurately controlled. The substrate was further connected to a force sensor and an acceleration sensor. With the cooperation of these sensors, the measured interaction force between the animal and the compliant substrate prevented the effects of inertial force coupling. The device was calibrated under preset conditions, and its force measurement accuracy was validated, with the error between the actual measured and theoretical values being no greater than 10%. Force curves were measured, and frictional adhesion coefficients were calculated from comparative experiments on the landing/takeoff of adherent animals (tree frogs and geckos) on this device. Analysis revealed that the adhesion force limits were significantly lower than previously reported values (0.2~0.4 times those estimated in previous research). This apparatus provides mechanical evidence for elucidating structural-functional relationships exhibited by animals during locomotion and can serve as an experimental platform for optimizing the locomotion of bioinspired robots on compliant substrates.

Linking morphology, performance, and habitat utilization: adaptation across biologically relevant 'levels' in tamarins

BACKGROUND

Biological adaptation manifests itself at the interface of different biologically relevant 'levels', such as ecology, performance, and morphology. Integrated studies at this interface are scarce due to practical difficulties in study design. We present a multilevel analysis, in which we combine evidence from habitat utilization, leaping performance and limb bone morphology of four species of tamarins to elucidate correlations between these 'levels'.

RESULTS

We conducted studies of leaping behavior in the field and in a naturalistic park and found significant differences in support use and leaping performance. Leontocebus nigrifrons leaps primarily on vertical, inflexible supports, with vertical body postures, and covers greater leaping distances on average. In contrast, Saguinus midas and S. imperator use vertical and horizontal supports for leaping with a relatively similar frequency. S. mystax is similar to S. midas and S. imperator in the use of supports, but covers greater leaping distances on average, which are nevertheless shorter than those of L. nigrifrons. We assumed these differences to be reflected in the locomotor morphology, too, and compared various morphological features of the long bones of the limbs. According to our performance and habitat utilization data, we expected the long bone morphology of L. nigrifrons to reflect the largest potential for joint torque generation and stress resistance, because we assume longer leaps on vertical supports to exert larger forces on the bones. For S. mystax, based on our performance data, we expected the potential for torque generation to be intermediate between L. nigrifrons and the other two Saguinus species. Surprisingly, we found S. midas and S. imperator having relatively more robust morphological structures as well as relatively larger muscle in-levers, and thus appearing better adapted to the stresses involved in leaping than the other two.

CONCLUSION

This study demonstrates the complex ways in which behavioral and morphological 'levels' map onto each other, cautioning against oversimplification of ecological profiles when using large interspecific eco-morphological studies to make adaptive evolutionary inferences.

Adapting small jumping robots to compliant environments

Jumping animals launch themselves from surfaces that vary widely in compliance from grasses and shrubs to tree branches. However, studies of robotic jumpers have been largely limited to those jumping from rigid substrates. In this paper, we leverage recent work describing how latches in jumping systems can mediate the transition from stored potential energy to kinetic energy. By including a description of the latch in our system model of both the jumper and compliant substrate, we can describe conditions in which a jumper can either lose energy to the substrate or recover energy from the substrate resulting in an improved jump performance. Using our mathematical model, we illustrate how the latch plays a role in the ability of a system to adapt its jump performance to a wide range of substrates that vary in their compliance. Our modelling results are validated using a 4 g jumper with a range of latch designs jumping from substrates with varying mass and compliance. Finally, we demonstrate the jumper recovering energy from a tree branch during take-off, extending these mechanistic findings to robots interacting with a more natural environment.

Blood python (Python brongersmai) strike kinematics and forces are robust to variations in substrate geometry

Snake strikes are some of the most rapid accelerations in terrestrial vertebrates. Generating rapid body accelerations requires high ground reaction forces, but on flat surfaces snakes must rely on static friction to prevent slip. We hypothesize that snakes may be able to take advantage of structures in the environment to prevent their body from slipping, potentially allowing them to generate faster and more forceful strikes. To test this hypothesis, we captured high-speed video and forces from defensive strikes of juvenile blood pythons (Python brongersmai) on a platform that was either open on all sides or with two adjacent walls opposite the direction of the strike. Contrary to our predictions, snakes maintained high performance on open platforms by imparting rearward momentum to the posterior body and tail. This compensatory behavior increases robustness to changes in their strike conditions and could allow them to exploit variable environments.

Action-driven remapping of hippocampal neuronal populations in jumping rats

The current dominant view of the hippocampus is that it is a navigation "device" guided by environmental inputs. Yet, a critical aspect of navigation is a sequence of planned, coordinated actions. We examined the role of action in the neuronal organization of the hippocampus by training rats to jump a gap on a linear track. Recording local field potentials and ensembles of single units in the hippocampus, we found that jumping produced a stereotypic behavior associated with consistent electrophysiological patterns, including phase reset of theta oscillations, predictable global firing-rate changes, and population vector shifts of hippocampal neurons. A subset of neurons ("jump cells") were systematically affected by the gap but only in one direction of travel. Novel place fields emerged and others were either boosted or attenuated by jumping, yet the theta spike phase versus animal position relationship remained unaltered. Thus, jumping involves an action plan for the animal to traverse the same route as without jumping, which is faithfully tracked by hippocampal neuronal activity.

Robust locomotor performance of squirrel monkeys (Saimiri boliviensis) in response to simulated changes in support diameter and compliance

Arboreal environments require overcoming navigational challenges not typically encountered in other terrestrial habitats. Supports are unevenly distributed and vary in diameter, orientation, and compliance. To better understand the strategies that arboreal animals use to maintain stability in this environment, laboratory researchers must endeavor to mimic those conditions. Here, we evaluate how squirrel monkeys (Saimiri boliviensis) adjust their locomotor mechanics in response to variation in support diameter and compliance. We used high-speed cameras to film two juvenile female monkeys as they walked across poles of varying diameters (5, 2.5, and 1.25 cm). Poles were mounted on either a stiff wooden base ("stable" condition) or foam blocks ("compliant" condition). Six force transducers embedded within the pole trackway recorded substrate reaction forces during locomotion. We predicted that squirrel monkeys would walk more slowly on narrow and compliant supports and adopt more "compliant" gait mechanics, increasing stride lengths, duty factors, and an average number of limbs gripping the support, while the decreasing center of mass height, stride frequencies, and peak forces. We observed few significant adjustments to squirrel monkey locomotor kinematics in response to changes in either support diameter or compliance, and the changes we did observe were often tempered by interactions with locomotor speed. These results differ from a similar study of common marmosets (i.e., Callithrix jacchus, with relatively poor grasping abilities), where variation in diameter and compliance substantially impacted gait kinematics. Squirrel monkeys' strong grasping apparatus, long and mobile tails, and other adaptations for arboreal travel likely facilitate robust locomotor performance despite substrate precarity.

Jumping with adhesion: landing surface incline alters impact force and body kinematics in crested geckos

Arboreal habitats are characterized by a complex three-dimensional array of branches that vary in numerous characteristics, including incline, compliance, roughness, and diameter. Gaps must often be crossed, and this is frequently accomplished by leaping. Geckos bearing an adhesive system often jump in arboreal habitats, although few studies have examined their jumping biomechanics. We investigated the biomechanics of landing on smooth surfaces in crested geckos, Correlophus ciliatus, asking whether the incline of the landing platform alters impact forces and mid-air body movements. Using high-speed videography, we examined jumps from a horizontal take-off platform to horizontal, 45° and 90° landing platforms. Take-off velocity was greatest when geckos were jumping to a horizontal platform. Geckos did not modulate their body orientation in the air. Body curvature during landing, and landing duration, were greatest on the vertical platform. Together, these significantly reduced the impact force on the vertical platform. When landing on a smooth vertical surface, the geckos must engage the adhesive system to prevent slipping and falling. In contrast, landing on a horizontal surface requires no adhesion, but incurs high impact forces. Despite a lack of mid-air modulation, geckos appear robust to changing landing conditions.

Leaping and differential habitat use in sympatric tamarins in Amazonian Peru

Differential habitat use in sympatric species can provide insight into how behavior relates to morphological differences and as a general model for the study of biological adaptations to different functional demands. In Amazonia, closely related sympatric tamarins of the genera Saguinus and Leontocebus regularly form stable mixed-species groups, but exhibit differences in foraging height and locomotor activity. To test the hypothesis that two closely related species in a mixed-species group prefer different modes of leaping regardless of the substrates available, we quantified leaping behavior in a mixed-species group of Saguinus mystax and Leontocebus nigrifrons. We studied leaping behavior in relation to support substrate type and foraging height in the field for 5 months in the Amazonian forest of north-eastern Peru. Saguinus mystax spent significantly more time above 15 m (79%) and used predominantly horizontal and narrow supports for leaping. Leontocebus nigrifrons was predominantly active below 10 m (87%) and exhibited relatively more trunk-to-trunk leaping. Both species preferred their predominant leaping modes regardless of support type availability in the different forest layers. This indicates that the supports most commonly available in each forest layer do not determine the tamarins’ leaping behavior. This apparent behavioral adaptation provides a baseline for further investigation into how behavioral differences are reflected in the morphology and species-specific biomechanics of leaping behavior and establishes callitrichid primates as a model well-suited to the general study of biological adaptation.

Acrobatic squirrels learn to leap and land on tree branches without falling

Arboreal animals often leap through complex canopies to travel and avoid predators. Their success at making split-second, potentially life-threatening decisions of biomechanical capability depends on their skillful use of acrobatic maneuvers and learning from past efforts. Here, we found that free-ranging fox squirrels (Sciurus niger) leaping across unfamiliar, simulated branches decided where to launch by balancing a trade-off between gap distance and branch-bending compliance. Squirrels quickly learned to modify impulse generation upon repeated leaps from unfamiliar, compliant beams. A repertoire of agile landing maneuvers enabled targeted leaping without falling. Unanticipated adaptive landing and leaping "parkour" behavior revealed an innovative solution for particularly challenging leaps. Squirrels deciding and learning how to launch and land demonstrates the synergistic roles of biomechanics and cognition in robust gap-crossing strategies.

The energy allocation trade-offs underlying life history traits in hypometabolic strepsirhines and other primates

Life history, brain size and energy expenditure scale with body mass in mammals but there is little conclusive evidence for a correlated evolution between life history and energy expenditure (either basal/resting or daily) independent of body mass. We addressed this question by examining the relationship between primate free-living daily energy expenditure (DEE) measured by doubly labeled water method (n = 18 species), life history variables (maximum lifespan, gestation and lactation duration, interbirth interval, litter mass, age at first reproduction), resting metabolic rate (RMR) and brain size. We also analyzed whether the hypometabolic primates of Madagascar (lemurs) make distinct energy allocation tradeoffs compared to other primates (monkeys and apes) with different life history traits and ecological constraints. None of the life-history traits correlated with DEE after controlling for body mass and phylogeny. In contrast, a regression model showed that DEE increased with increasing RMR and decreasing reproductive output (i.e., litter mass/interbirth interval) independent of body mass. Despite their low RMR and smaller brains, lemurs had an average DEE remarkably similar to that of haplorhines. The data suggest that lemurs have evolved energy strategies that maximize energy investment to survive in the unusually harsh and unpredictable environments of Madagascar at the expense of reproduction.

Tail Control Enhances Gliding in Arboreal Lizards: An Integrative Study Using a 3D Geometric Model and Numerical Simulation

The ability to glide through an arboreal habitat has been acquired by several mammals, amphibians, snakes, lizards, and even invertebrates. Lizards of the genus Draco possess specialized morphological structures for gliding, including a patagium, throat lappets, and modified hindlimbs. Despite being among the most specialized reptilian gliders, it is currently unknown how Draco is able to maneuver effectively during flight. Here, we present a new computational method for characterizing the role of tail control on Draco glide distance and stability. We first modeled Draco flight dynamics as a function of gravitational, lift, and drag forces. Lift and drag estimates were derived from wind tunnel experiments of 3D printed models based on photos of Draco during gliding. Initial modeling leveraged the known mass and planar surface area of the Draco to estimate lift and drag coefficients. We developed a simplified, 3D simulation for Draco gliding, calculating longitudinal and lateral position and a pitch angle of the lizard with respect to a cartesian coordinate frame. We used PID control to model the lizards' tail adjustment to maintain an angle of attack. Our model suggests an active tail improves both glide distance and stability in Draco. These results provide insight toward the biomechanics of Draco; however, future in vivo studies are needed to provide a complete picture for gliding mechanics of this genus. Our approach enables the replication and modification of existing gliders to better understand their performance and mechanics. This can be applied to extinct species, but also as a way of exploring the biomimetic potential of different morphological features.

Predictive Simulations of Musculoskeletal Function and Jumping Performance in a Generalized Bird

Jumping is a common, but demanding, behavior that many animals employ during everyday activity. In contrast to jump-specialists such as anurans and some primates, jumping biomechanics and the factors that influence performance remains little studied for generalized species that lack marked adaptations for jumping. Computational biomechanical modeling approaches offer a way of addressing this in a rigorous, mechanistic fashion. Here, optimal control theory and musculoskeletal modeling are integrated to generate predictive simulations of maximal height jumping in a small ground-dwelling bird, a tinamou. A three-dimensional musculoskeletal model with 36 actuators per leg is used, and direct collocation is employed to formulate a rapidly solvable optimal control problem involving both liftoff and landing phases. The resulting simulation raises the whole-body center of mass to over double its standing height, and key aspects of the simulated behavior qualitatively replicate empirical observations for other jumping birds. However, quantitative performance is lower, with reduced ground forces, jump heights, and muscle–tendon power. A pronounced countermovement maneuver is used during launch. The use of a countermovement is demonstrated to be critical to the achievement of greater jump heights, and this phenomenon may only need to exploit physical principles alone to be successful; amplification of muscle performance may not necessarily be a proximate reason for the use of this maneuver. Increasing muscle strength or contractile velocity above nominal values greatly improves jump performance, and interestingly has the greatest effect on more distal limb extensor muscles (i.e., those of the ankle), suggesting that the distal limb may be a critical link for jumping behavior. These results warrant a re-evaluation of previous inferences of jumping ability in some extinct species with foreshortened distal limb segments, such as dromaeosaurid dinosaurs.

Simulations prédictives de la fonction musculo-squelettique et des performances de saut chez un oiseau généralisé Sauter est un comportement commun, mais exigeant, que de nombreux animaux utilisent au cours de leurs activités quotidiennes. Contrairement aux spécialistes du saut tels que les anoures et certains primates, la biomécanique du saut et les facteurs qui influencent la performance restent peu étudiés pour les espèces généralisées qui n’ont pas d’adaptations marquées pour le saut. Les approches de modélisation biomécanique computationnelle offrent un moyen d’aborder cette question de manière rigoureuse et mécaniste. Ici, la théorie du contrôle optimal et la modélisation musculo-squelettique sont intégrées pour générer des simulations prédictives du saut en hauteur maximal chez un petit oiseau terrestre, le tinamou. Un modèle musculo-squelettique tridimensionnel avec 36 actionneurs par patte est utilisé, et une méthode numérique nommée “direct collocation” est employée pour formuler un problème de contrôle optimal rapidement résoluble impliquant les phases de décollage et d’atterrissage. La simulation qui en résulte élève le centre de masse du corps entier à plus du double de sa hauteur debout, et les aspects clés du comportement simulé reproduisent qualitativement les observations empiriques d’autres oiseaux sauteurs. Cependant, les performances quantitatives sont moindres, avec une réduction des forces au sol, des hauteurs de saut et de la puissance musculo-tendineuse. Une manœuvre de contre-mouvement prononcée est utilisée pendant le lancement. Il a été démontré que l’utilisation d’un contre-mouvement est essentielle à l’obtention de hauteurs de saut plus importantes, et il se peut que ce phénomène doive exploiter uniquement des principes physiques pour réussir; l’amplification de la performance musculaire n’est pas nécessairement une raison immédiate de l’utilisation de cette manœuvre. L’augmentation de la force musculaire ou de la vitesse de contraction au-dessus des valeurs nominales améliore grandement la performance de saut et, fait intéressant, a le plus grand effet sur les muscles extenseurs des membres plus distaux (c'est-à-dire ceux de la cheville), ce qui suggère que le membre distal peut être un lien critique pour le comportement de saut. Ces résultats justifient une réévaluation des déductions précédentes de la capacité de sauter chez certaines espèces éteintes avec des segments de membres distaux raccourcis, comme les dinosaures droméosauridés.

Voorspellende simulaties van musculoskeletale functie en springprestaties bij een gegeneraliseerde vogel Springen is een veel voorkomend, maar veeleisend, gedrag dat veel dieren toepassen tijdens hun dagelijkse bezigheden. In tegenstelling tot de springspecialisten zoals de anura en sommige primaten, is de biomechanica van het springen en de factoren die de prestaties beïnvloeden nog weinig bestudeerd voor algemene soorten die geen uitgesproken adaptaties voor het springen hebben. Computationele biomechanische modelbenaderingen bieden een manier om dit op een rigoureuze, mechanistische manier aan te pakken. Hier worden optimale controle theorie en musculoskeletale modellering geïntegreerd om voorspellende simulaties te genereren van maximale hoogtesprong bij een kleine grondbewonende vogel, een tinamou. Een driedimensionaal musculoskeletaal model met 36 actuatoren per poot wordt gebruikt, en directe collocatie wordt toegepast om een snel oplosbaar optimaal controleprobleem te formuleren dat zowel de opstijg-als de landingsfase omvat. De resulterende simulatie verhoogt het lichaamszwaartepunt tot meer dan het dubbele van de stahoogte, en belangrijke aspecten van het gesimuleerde gedrag komen kwalitatief overeen met empirische waarnemingen voor andere springende vogels. De kwantitatieve prestaties zijn echter minder, met verminderde grondkrachten, spronghoogtes en spierpeeskracht. Tijdens de lancering wordt een uitgesproken tegenbewegingsmanoeuvre gebruikt. Aangetoond is dat het gebruik van een tegenbeweging van cruciaal belang is voor het bereiken van grotere spronghoogten, en dit fenomeen hoeft alleen op fysische principes te berusten om succesvol te zijn; versterking van de spierprestaties hoeft niet noodzakelijk een proximate reden te zijn voor het gebruik van deze manoeuvre. Het verhogen van de spierkracht of van de contractiesnelheid boven de nominale waarden verbetert de sprongprestatie aanzienlijk, en heeft interessant genoeg het grootste effect op de meer distale extensoren van de ledematen (d.w.z. die van de enkel), wat suggereert dat de distale ledematen een kritieke schakel kunnen zijn voor het springgedrag. Deze resultaten rechtvaardigen een herevaluatie van eerdere conclusies over springvermogen bij sommige uitgestorven soorten met voorgekorte distale ledematen, zoals dromaeosauride dinosauriërs.

Prädiktive Simulationen der muskuloskelettalen Funktion und Sprungleistung bei einem generalisierten Vogel Springen ist ein übliches jedoch anstrengendes Verhalten, das viele Tiere bei ihren täglichen Aktivitäten einsetzen. Im Gegensatz zu Springspezialisten, wie Fröschen und einigen Primaten, sind bei allgemeinen Arten, welche keine ausgeprägten Anpassung für Sprungverhalten aufweisen, die Biomechanik beim Springen und die Faktoren, welche die Leistungsfähigkeit beeinflussen, noch wenig untersucht. Computergestützte biomechanische Modellierungsverfahren bieten hier eine Möglichkeit, dies in einer gründlichen, mechanistischen Weise anzugehen. In dieser Arbeit werden die optimale Steuerungstheorie und Muskel-Skelett-Modellierung zusammen eingesetzt, um die maximale Sprunghöhe eines kleinen bodenlebenden Vogels, eines Perlsteisshuhns, zu simulieren und zu prognostizieren. Es wird ein dreidimensionales Muskel-Skelett-Modell mit 36 Aktuatoren pro Bein verwendet, und durch direkte Kollokation wird ein schnell lösbares optimales Steuerungsproblem formuliert, das sowohl die Abstoss- als auch die Landephase umfasst. Die daraus folgende Simulation bringt den Ganzkörperschwerpunkt auf mehr als das Doppelte seiner Standhöhe und entscheidende Aspekte des simulierten Verhaltens entsprechen qualitativ empirischen Beobachtungen für andere springende Vögel. Allerdings ist die quantitative Leistungsfähigkeit geringer, mit reduzierten Bodenkräften, Sprunghöhen und Muskel-Sehnen-Kräften. Beim Abstossen wird ein ausgeprägtes Gegenbewegungsmanöver durchgeführt. Die Durchführung einer Gegenbewegung ist nachweislich entscheidend für das Erreichen grösserer Sprunghöhen, wobei dieses Phänomen möglicherweise nur physikalische Prinzipien auszuschöpfen braucht, um erfolgreich zu sein. Die Verstärkung der Muskelleistung ist daher möglicherweise nicht zwingend ein unmittelbarer Grund für die Verwendung dieses Manövers. Eine Erhöhung der Muskelkraft oder der Kontraktionsgeschwindigkeit über die Nominalwerte hinaus führt zu einer erheblichen Zunahme der Sprungleistung und hat interessanterweise den grössten Effekt bei den weiter distal gelegenen Streckmuskeln der Beine (d.h. bei denjenigen des Sprunggelenks), was darauf hindeutet, dass die distale Gliedmasse ein entscheidendes Element für das Sprungverhalten sein könnte. Diese Ergebnisse geben Anlass zur Überprüfung früherer Schlussfolgerungen hinsichtlich der Sprungfähigkeit einiger ausgestorbener Arten mit verkürzten distalen Gliedmassen, wie beispielsweise bei dromaeosauriden Dinosauriern.

Effect of Substrates' Compliance on the Jumping Mechanism of Locusta migratoria

Locusts generally live and move in complex environments including different kind of substrates, ranging from compliant leaves to stiff branches. Since the contact force generates deformation of the substrate, a certain amount of energy is dissipated each time when locust jumps from a compliant substrate. In published researches, it is proven that only tree frogs are capable of recovering part of the energy that had been accumulated in the substrate as deformation energy in the initial pushing phase, just before leaving the ground. The jumping performances of adult Locusta migratoria on substrates of three different compliances demonstrate that locusts are able to adapt their jumping mode to the mechanical characteristics of the substrate. Recorded high speed videos illustrate the existence of deformed substrate's recoil before the end of the takeoff phase when locusts jump from compliant substrates, which indicates their ability of recovering part of energy from the substrate deformation. This adaptability is supposed to be related to the catapult mechanism adopted in locusts' jump thanks to their long hind legs and sticky tarsus. These findings improve the understanding of the jumping mechanism of locusts, as well as can be used to develop artifact outperforming current jumping robots in unstructured scenarios.

The Central Role of Small Vertical Substrates for the Origin of Grasping in Early Primates

The manual and pedal grasping abilities of primates, characterized by an opposable hallux, flat nails, and elongated digits, constitute a unique combination of features that likely promoted their characteristic use of arboreal habitats. These hand and foot specificities are central for understanding the origins and early evolution of primates and have long been associated with foraging in a fine-branch milieu. However, other arboreal mammals occupy similar niches, and it remains unclear how substrate type may have exerted a selective pressure on the acquisition of nails and a divergent pollex/hallux in primates or in what sequential order these traits evolved. Here, we video-recorded 14,564 grasps during arboreal locomotion in 11 primate species (6 strepsirrhines and 5 platyrrhines) and 11 non-primate arboreal species (1 scandentian, 3 rodents, 3 carnivorans, and 4 marsupials). We quantified our observations with 19 variables to analyze the effect of substrate orientation and diameter on hand and foot postural repertoire. We found that hand and foot postures correlate with phylogeny. Also, primates exhibited high repertoire diversity, with a strong capability for postural adjustment compared to the other studied groups. Surprisingly, nails do not confer an advantage in negotiating small substrates unless the animal is large, but the possession of a grasping pollex and hallux is crucial for climbing small vertical substrates. We propose that the divergent hallux and pollex may have resulted from a frequent use of vertical plants in early primate ecological scenarios, although nails may not have resulted from a fundamental adaptation to arboreal locomotion.

Asymmetrical gait kinematics of free-ranging callitrichines in response to changes in substrate diameter and orientation

Arboreal environments present considerable biomechanical challenges for animals moving and foraging among substrates varying in diameter, orientation, and compliance. Most studies of quadrupedal gait kinematics in primates and other arboreal mammals have focused on symmetrical walking gaits and the significance of diagonal sequence gaits. Considerably less research has examined asymmetrical gaits, despite their prevalence in small-bodied arboreal taxa. Here we examine whether and how free-ranging callitrichine primates adjust asymmetrical gait kinematics to changes in substrate diameter and orientation, as well as how variation in gait kinematics affects substrate displacement. We used high-speed video to film free-ranging Saguinus tripartitus and Cebuella pygmaea inhabiting the Tiputini Biodiversity Station, Ecuador. We found that Saguinus used bounding and half-bounding gaits on larger substrates versus gallops and symmetrical gaits on smaller substrates, and also shifted several kinematic parameters consistent with attenuating forces transferred from the animal to the substrate. Similarly, Cebuella shifted from high impact bounding gaits on larger substrates to using more half-bounding gaits on smaller substrates; however, kinematic adjustments to substrate diameter were not as profound as in Saguinus. Both species adjusted gait kinematics to changes in substrate orientation; however, gait kinematics did not significantly affect empirical measures of substrate displacement in either species. Due to their small body size, claw-like nails, and reduced grasping capabilities, callitrichines arguably represent extant biomechanical analogues for an early stage in primate evolution. As such, greater attention should be placed on understanding asymmetrical gait dynamics for insight into hypotheses concerning early primate locomotor evolution.

Going the distance: The biomechanics of gap-crossing behaviors

The discontinuity of the canopy habitat is one of the principle differences between the terrestrial and arboreal environments. An animal's ability to cross gaps-to move from one support to another across an empty space-is influenced by both the physical structure of the gap and the animal's locomotor capabilities. In this review, we discuss the range of behaviors animals use to cross gaps. Focusing on the biomechanics of these behaviors, we suggest broad categorizations that facilitate comparisons between taxa. We also discuss the importance of gap distance in determining crossing behavior, and suggest several mechanical characteristics that may influence behavior choice, including the degree to which a behavior is dynamic, and whether or not the behavior is airborne. Overall, gap crossing is an important aspect of arboreal locomotion that deserves further in-depth attention, particularly given the ubiquity of gaps in the arboreal habitat.

Compliant Substrates Disrupt Elastic Energy Storage in Jumping Tree Frogs

Arboreal frogs navigate complex environments and face diverse mechanical properties within their physical environment. Such frogs may encounter substrates that are damped and absorb energy or are elastic and can store and release energy as the animal pushes off during take-off. When dealing with a compliant substrate, a well-coordinated jump would allow for the recovery of elastic energy stored in the substrate to amplify mechanical power, effectively adding an in-series spring to the hindlimbs. We tested the hypothesis that effective use of compliant substrates requires active changes to muscle activation and limb kinematics to recover energy from the substrate. We designed an actuated force platform, modulated with a real-time feedback controller to vary the stiffness of the substrate. We quantified the kinetics and kinematics of Cuban tree frogs (Osteopilus septentrionalis) jumping off platforms at four different stiffness conditions. In addition, we used electromyography to examine the relationship between muscle activation patterns and substrate compliance during take-off in a knee extensor (m. cruralis) and an ankle extensor (m. plantaris). We find O. septentrionalis do not modulate motor patterns in response to substrate compliance. Although not actively modulated, changes in the rate of limb extension suggest a trade-off between power amplification and energy recovery from the substrate. Our results suggest that compliant substrates disrupt the inertial catch mechanism that allows tree frogs to store elastic energy in the tendon, thereby slowing the rate of limb extension and increasing the duration of take-off. However, the slower rate of limb extension does provide additional time to recover more energy from the substrate. This work serves to broaden our understanding of how the intrinsic mechanical properties of a system may broaden an organism’s capacity to maintain performance when facing environmental perturbations.

Robust jumping performance and elastic energy recovery from compliant perches in tree frogs

Arboreal animals often move on compliant branches, which may deform substantially under loads, absorbing energy. Energy stored in a compliant substrate may be returned to the animal or it may be lost. In all cases studied so far, animals jumping from a static start lose all of the energy imparted to compliant substrates and performance is reduced. Cuban tree frogs (Osteopilus septentrionalis) are particularly capable arboreal jumpers, and we hypothesized that these animals would be able to recover energy from perches of varying compliance. In spite of large deflections of the perches and consequent substantial energy absorption, frogs were able to regain some of the energy lost to the perch during the recoil. Takeoff velocity was robust to changes in compliance, but was lower than when jumping from flat surfaces. This highlights the ability of animals to minimize energy loss and maintain dependable performance on challenging substrates via behavioral changes.

Effects of support diameter and compliance on common marmoset (Callithrix jacchus) gait kinematics

Locomotion is precarious in an arboreal habitat, where supports can vary in both diameter and level of compliance. Several previous studies have evaluated the influence of substrate diameter on the locomotor performance of arboreal quadrupeds. The influence of substrate compliance, however, has been mostly unexamined. Here, we used a multifactorial experimental design to investigate how perturbations in both diameter and compliance affect the gait kinematics of marmosets (Callithrix jacchus; N=2) moving over simulated arboreal substrates. We used 3D-calibrated video to quantify marmoset locomotion over a horizontal trackway consisting of variably sized poles (5, 2.5 and 1.25 cm in diameter), analyzing a total of 120 strides. The central portion of the trackway was either immobile or mounted on compliant foam blocks, depending on condition. We found that narrowing diameter and increasing compliance were both associated with relatively longer substrate contact durations, though adjustments to diameter were often inconsistent relative to compliance-related adjustments. Marmosets also responded to narrowing diameter by reducing speed, flattening center of mass (CoM) movements and dampening support displacement on the compliant substrate. For the subset of strides on the compliant support, we found that speed, contact duration and CoM amplitude explained >60% of the variation in substrate displacement over a stride, suggesting a direct performance advantage to these kinematic adjustments. Overall, our results show that compliant substrates can exert a significant influence on gait kinematics. Substrate compliance, and not just support diameter, should be considered a critical environmental variable when evaluating locomotor performance in arboreal quadrupeds.

The Ontogeny of Gap Crossing Behaviour in Bornean Orangutans (Pongo pygmaeus wurmbii)

For orangutans, the largest predominantly arboreal primates, discontinuous canopy presents a particular challenge. The shortest gaps between trees lie between thin peripheral branches, which offer the least stability to large animals. The affordances of the forest canopy experienced by orangutans of different ages however, must vary substantially as adult males are an order of magnitude larger in size than infants during the early stages of locomotor independence. Orangutans have developed a diverse range of locomotor behaviour to cross gaps between trees, which vary in their physical and cognitive demands. The aims of this study were to examine the ontogeny of orangutan gap crossing behaviours and to determine which factors influence the distance orangutans crossed. A non-invasive photographic technique was used to quantify forearm length as a measure of body size. We also recorded locomotor behaviour, support use and the distance crossed between trees. Our results suggest that gap crossing varies with both physical and cognitive development. More complex locomotor behaviours, which utilized compliant trunks and lianas, were used to cross the largest gaps, but these peaked in frequency much earlier than expected, between the ages of 4 and 5 years old, which probably reflects play behaviour to perfect locomotor techniques. Smaller individuals also crossed disproportionately large gaps relative to their size, by using support deformation. Our results suggest that orangutans acquire the full repertoire of gap crossing techniques, including the more cognitively demanding ones, before weaning, but adjust the frequency of the use of these techniques to their increasing body size.

Energy expended during horizontal jumping: investigating the effects of surface compliance

We present the first data on the metabolic costs of horizontal jumping in humans, using this tractable model to explore variations in energy expenditure with substrate properties, and consider these findings in light of kinematic data. Twenty-four participants jumped consistently at the rate of 1 jump per 5 s between opposing springboards separated by either a short (1.2 m) or long (1.8 m) gap. Springboards were either 'firm' or 'compliant'. Respiratory gas exchange was measured using a back-mounted portable respiratory gas analyser to represent rate of energy expenditure, which was converted to energy expenditure per metre jumped. Video data were recorded to interpret kinematic information. Horizontal jumping was found to be between around 10 and 20 times the energy cost of cursorial locomotion per unit distance moved. There is considerable evidence from the data that jumping 1.8 m from a compliant springboard (134.9 mL O2 m(-1)) is less costly energetically than jumping that distance from a firm springboard (141.6 mL O2 m(-1)), albeit the effect size is quite small within the range of compliances tested in this study. However, there was no evidence of an effect of springboard type for jumps of 1.2 m. The kinematic analyses indicate possible explanations for these findings. Firstly, the calf muscle is likely used more, and the thigh muscles less, to take-off from a firm springboard during 1.8 m jumps, which may result in the power required to take-off being produced less efficiently. Secondly, the angle of take-off from the compliant surface during 1.8 m jumps is closer to the optimal for energetic efficiency (45°), possible due to the impulse provided by the surface as it returns stored energy during the final stages of the take-off. The theoretical effect on energy costs due to a different take-off angle for jumps of only 1.2 m is close to negligible.

Factors affecting the compliance and sway properties of tree branches used by the Sumatran orangutan (Pongo abelii)

The tropical arboreal environment is a mechanically complex and varied habitat. Arboreal inhabitants must adapt to changes in the compliance and stability of supports when moving around trees. Because the orangutan is the largest habitual arboreal inhabitant, it is unusually susceptible to branch compliance and stability and therefore represents a unique animal model to help investigate how animals cope with the mechanical heterogeneity of the tropical canopy. The aim of this study was to investigate how changes in compliance and time of oscillation of branches are related to easily observable traits of arboreal supports. This should help predict how supports react mechanically to the weight and mass of a moving orangutan, and suggest how orangutans themselves predict branch properties. We measured the compliance and time of oscillation of branches from 11 tree species frequented by orangutans in the rainforest of Sumatra. Branches were pulled at several points along their length using a force balance at the end of a stiff rope, and the local diameter of the branch and the distance to its base and tip were measured. Compliance was negatively associated with both local diameter and length to the tip of the branch, and positively, if weakly, associated with length from the trunk. However, branch diameter not only predicted compliance best, but would also be easiest for an orangutan to observe. In contrast, oscillation times of branches were largely unaffected by local diameter, and only significantly increased at diameters below 2 cm. The results of this study validate previous field research, which related locomotory modes to local branch diameter, while suggesting how arboreal animals themselves sense their mechanical environment.

The effects of three-dimensional gap orientation on bridging performance and behavior of brown tree snakes (Boiga irregularis)

Traversing gaps with different orientations within arboreal environments has ecological relevance and mechanical consequences for animals. For example, the orientation of the animal while crossing gaps determines whether the torques acting on the body tend to cause it to pitch or roll from the supporting perch or fail as a result of localized bending. The elongate bodies of snakes seem well suited for crossing gaps, but a long unsupported portion of the body can create large torques that make gap bridging demanding. We tested whether the three-dimensional orientation of substrates across a gap affected the performance and behavior of an arboreal snake (Boiga irregularis). The snakes crossed gaps 65% larger for vertical than for horizontal trajectories and 13% greater for straight trajectories than for those with a 90 deg turn within the horizontal plane. Our results suggest that failure due to the inability to keep the body rigid at the edge of the gap may be the primary constraint on performance for gaps with a large horizontal component. In addition, the decreased performance when the destination perch was oriented at an angle to the long axis of the initial perch was probably a result of the inability of snakes to maintain balance due to the large rolling torque. For some very large gaps the snakes enhanced their performance by using rapid lunges to cross otherwise impassable gaps. Perhaps such dynamic movements preceded the aerial behavior observed in other species of arboreal snakes.

Total recoil: perch compliance alters jumping performance and kinematics in green anole lizards (Anolis carolinensis)

Jumping is a common form of locomotion for many arboreal animals. Many species of the arboreal lizard genus Anolis occupy habitats in which they must jump to and from unsteady perches, e.g. narrow branches, vines, grass and leaves. Anoles therefore often use compliant perches that could alter jump performance. In this study we conducted a small survey of the compliance of perches used by the arboreal green anole Anolis carolinensis in the wild (N=54 perches) and then, using perches within the range of compliances used by this species, investigated how perch compliance (flexibility) affects the key jumping variables jump distance, takeoff duration, takeoff angle, takeoff speed and landing angle in A. carolinensis in the laboratory (N=11). We observed that lizards lost contact with compliant horizontal perches prior to perch recoil, and increased perch compliance resulted in decreased jump distance and takeoff speed, likely because of the loss of kinetic energy to the flexion of the perch. However, the most striking effect of perch compliance was an unexpected one; perch recoil following takeoff resulted in the lizards being struck on the tail by the perch, even on the narrowest perches. This interaction between the perch and the tail significantly altered body positioning during flight and landing. These results suggest that although the use of compliant perches in the wild is common for this species, jumping from these perches is potentially costly and may affect survival and behavior, particularly in the largest individuals.

Habitat separation of sympatric Microcebus spp. in the dry spiny forest of south-eastern Madagascar

We investigated whether or not habitat structure contributes to the separation of two sister species of lemurs and their hybrids. For this, we studied Microcebus murinus and M. griseorufus along a continuous vegetation gradient where populations of the two species occur in sympatry or in allopatry. In allopatry, the two species are generalists without any sign of microhabitat selectivity. In sympatry, both species differed significantly and discriminated against certain habitat structures: M. murinus was found in microhabitats with larger trees than average while M. griseorufus utilized microhabitats with smaller trees. Hybrids between the two species did not show any significant discrimination for or against microhabitat structure and did not differ in their habitat utilization from either parent species. Both species can go into torpor and hibernation. M. griseorufus is seen more frequently during the cool dry season than M. murinus. We assume that M. murinus goes into extended torpor or hibernation more frequently than M. griseorufus. We interpret the different occurrence of large-sized trees in microhabitats of M. murinus as a prerequisite for M. murinus to be able to spend extended periods of time in tree holes that are isolated and allow hibernation at reduced temperature levels.

The effect of substrate compliance on the biomechanics of gibbon leaps

The storage and recovery of elastic strain energy in the musculoskeletal systems of locomoting animals has been extensively studied, yet the external environment represents a second potentially useful energy store that has often been neglected. Recent studies have highlighted the ability of orangutans to usefully recover energy from swaying trees to minimise the cost of gap crossing. Although mechanically similar mechanisms have been hypothesised for wild leaping primates, to date no such energy recovery mechanisms have been demonstrated biomechanically in leapers. We used a setup consisting of a forceplate and two high-speed video cameras to conduct a biomechanical analysis of captive gibbons leaping from stiff and compliant poles. We found that the gibbons minimised pole deflection by using different leaping strategies. Two leap types were used: slower orthograde leaps and more rapid pronograde leaps. The slower leaps used a wider hip joint excursion to negate the downward movement of the pole, using more impulse to power the leap, but with no increase in work done on the centre of mass. Greater hip excursion also minimised the effective leap distance during orthograde leaps. The more rapid leaps conversely applied peak force earlier in stance where the pole was effectively stiffer, minimising deflection and potential energy loss. Neither leap type appeared to usefully recover energy from the pole to increase leap performance, but the gibbons demonstrated an ability to best adapt their leap biomechanics to counter the negative effects of the compliant pole.

Substrate diameter and compliance affect the gripping strategies and locomotor mode of climbing boa constrictors

Arboreal habitats pose unique challenges for locomotion as a result of their narrow cylindrical surfaces and discontinuities between branches. Decreased diameter of branches increases compliance, which can pose additional challenges, including effects on stability and energy damping. However, the combined effects of substrate diameter and compliance are poorly understood for any animal. We quantified performance, kinematics and substrate deformation while boa constrictors (Boa constrictor) climbed vertical ropes with three diameters (3, 6 and 9 mm) and four tensions (0.5, 1.0, 1.5 and 2.0 body weights). Mean forward velocity decreased significantly with both decreased diameter and increased compliance. Both diameter and compliance had numerous effects on locomotor kinematics, but diameter had larger and more pervasive effects than compliance. Locomotion on the largest diameter had a larger forward excursion per cycle, and the locomotor mode and gripping strategy differed from that on the smaller diameters. On larger diameters, snakes primarily applied opposing forces at the same location on the rope to grip. By contrast, on smaller diameters forces were applied in opposite directions at different locations along the rope, resulting in increased rope deformation. Although energy is likely to be lost during deformation, snakes might use increased surface deformation as a strategy to enhance their ability to grip.

Orangutans employ unique strategies to control branch flexibility

Orangutans are the largest habitually arboreal mammal. For them, as for all arboreal mammals, access to the abundant fruits and narrowest gaps found among the thin peripheral branches of tree crowns poses considerable safety risks and energetic demands. Most arboreal primates use flexed-limb postures to minimize problems caused by branch compliance and instability. Here, we show that Sumatran orangutans employ unique locomotor strategies to control compliance and allow access to the terminal branch niche for feeding and gap crossing. We calculated a "stiffness score," which is a measure of the flexibility of the supports on which orangutans moved. We found that certain locomotor behaviors clearly are associated with the most compliant supports; these behaviors appear to lack regular limb sequences, which serves to avoid the risk of resonance in branch sway caused by high-frequency, patterned gait. Balance and increased stability are achieved through long contact times between multiple limbs and supports and a combination of pronograde (horizontal) and orthograde (vertical) body postures, used both above branches and in suspension underneath them. Overall, adult females seem to be the most conservative in their travel, selecting more solid and secure supports than males and adolescents. These results have implications for understanding locomotor diversity in fossil and extant apes and for orangutan conservation and reintroduction programs.