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Song Y, Wang H, Dai Z, Ji A, Wu H, Gorb SN. Multiple forces facilitate the aquatic acrobatics of grasshopper and bioinspired robot. Proc Natl Acad Sci U S A 2024; 121:e2313305121. [PMID: 38527195 PMCID: PMC10998625 DOI: 10.1073/pnas.2313305121] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/11/2023] [Accepted: 02/09/2024] [Indexed: 03/27/2024] Open
Abstract
Aquatic locomotion is challenging for land-dwelling creatures because of the high degree of fluidity with which the water yields to loads. We surprisingly found that the Chinese rice grasshopper Oxya chinensis, known for its terrestrial acrobatics, could swiftly launch itself off the water's surface in around 25 ms and seamlessly transition into flight. Biological observations showed that jumping grasshoppers use their front and middle legs to tilt up bodies first and then lift off by propelling the water toward the lower back with hind legs at angular speeds of up to 18°/ms, whereas the swimming grasshoppers swing their front and middle legs in nearly horizontal planes and move hind legs less violently (~8°/ms). Force measurement and model analysis indicated that the weight support could be achieved by hydrostatics which are proportionate to the mass of the grasshoppers, while the propulsions for motion are derived from the controlled limb-water interactions (i.e., the hydrodynamics). After learning the structural and behavioral strategies of the grasshoppers, a robot was created and was capable of swimming and jumping on the water surface like the insects, further demonstrating the effectiveness of decoupling the challenges of aquatic locomotion by the combined use of the static and dynamic hydro forces. This work not only uncovered the combined mechanisms responsible for facilitating aquatic acrobatics in this species but also laid a foundation for developing bioinspired robots that can locomote across multiple media.
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Affiliation(s)
- Yi Song
- Institute of Advanced Manufacturing Technology and Modern Design, College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou310014, China
| | - Huan Wang
- Institute of Bioinspired Structure and Surface Engineering, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing210016, China
| | - Zhendong Dai
- Institute of Bioinspired Structure and Surface Engineering, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing210016, China
| | - Aihong Ji
- Institute of Bioinspired Structure and Surface Engineering, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing210016, China
| | - Huaping Wu
- Institute of Advanced Manufacturing Technology and Modern Design, College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou310014, China
| | - Stanislav N. Gorb
- Department of Functional Morphology and Biomechanics, Kiel University, KielD-24118, Germany
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2
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Soncini R, Klein W. Surface tension in biological systems - a common problem with a variety of solutions. Comp Biochem Physiol A Mol Integr Physiol 2023; 284:111475. [PMID: 37421990 DOI: 10.1016/j.cbpa.2023.111475] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/21/2023] [Revised: 07/02/2023] [Accepted: 07/03/2023] [Indexed: 07/10/2023]
Abstract
Water is of fundamental importance to living organisms, not only as a universal solvent to maintain metabolic activity but also due to the effects the physical properties of water have on different organismal structures. In this review, we explore some examples of how living organisms deal with surfaces covered with or in contact with water. While we do not intend to describe all possible forms of interactions in every minute detail, we would like to draw attention to this intriguing interdisciplinary subject and discuss the positive and negative effects of the interaction forces between water molecules and organisms. Topics explored include locomotion on water, wettability of surfaces, benefits of retaining a film of air while submerged (Salvinia effect), surface tension of water inhibiting air-breathing, accumulation of water in small tubes, surface tension in non-mammalian and mammalian respiratory systems. In each topic, we address the importance of interactions with water and the adaptations seen in an organism to solve the surface-related challenges, trying to explore the different selective pressures acting onto different organisms allowing exploring or compensating these surface-related interactions.
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Affiliation(s)
- Roseli Soncini
- Instituto de Ciências Biomédicas, Universidade Federal de Alfenas, Alfenas, MG, Brazil
| | - Wilfried Klein
- Faculdade de Filosofia, Ciências e Letras de Ribeirão Preto, Universidade de São Paulo, Ribeirão Preto, SP, Brazil.
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3
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Easterling CM, Kolmann MA, O'Donnell MK. The Lesser-Known Transitions: Organismal Form and Function Across Abiotic Gradients. Integr Comp Biol 2022; 62:829-839. [PMID: 35927766 DOI: 10.1093/icb/icac133] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/01/2022] [Revised: 04/20/2022] [Accepted: 04/26/2022] [Indexed: 11/12/2022] Open
Abstract
From minute-to-minute changes, or across daily, seasonal, or geological timescales, animals are forced to navigate dynamic surroundings. Their abiotic environment is continually changing. These changes could include alterations to the substrates animals locomote on, flow dynamics of the microhabitats they feed in, or even altitudinal shifts over migration routes. The only constancy in any organism's day-to-day existence is the heterogeneity of the habitats they move through and the gradients in the physical media (e.g., air, water) they live in. We explored a broad range of organismal transitions across abiotic gradients and investigated how these organisms modify their form, function, and behavior to accommodate their surrounding media. We asked the following questions: (1) What are some challenges common to animals in changing media or moving between media? (2) What are common solutions to these recurring problems? (3) How often are these common solutions instances of either convergence or parallelism? Our symposium speakers explored these questions through critical analysis of numerous datasets spanning multiple taxa, timescales, and levels of analysis. After discussions with our speakers, we suggest that the role of physical principles (e.g., drag, gravity, buoyancy, viscosity) in constraining morphology and shaping the realized niche has been underappreciated. We recommend that investigations of these transitions and corresponding adaptations should include comparisons at multiple levels of biological organization and timescale. Relatedly, studies of organisms that undergo habitat and substrate changes over ontogeny would be worthwhile to include in comparisons. Future researchers should ideally complement lab-based morphological and kinematic studies with observational and experimental approaches in the field. Synthesis of the findings of our speakers across multiple study systems, timescales, and transitional habitats suggests that behavioral modification and exaptation of morphology play key roles in modulating novel transitions between substrates.
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Affiliation(s)
- C M Easterling
- Northwest University, Science Department, Kirkland, WA 98033
| | - M A Kolmann
- University of Michigan, Museum of Paleontology, Ann Arbor, MI 48109
| | - M K O'Donnell
- Lycoming College, Biology Department, Williamsport, PA 17701
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4
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Zang G, Dai Z, Manoonpong P. The Roles and Comparison of Rigid and Soft Tails in Gecko-Inspired Climbing Robots: A Mini-Review. Front Bioeng Biotechnol 2022; 10:900389. [PMID: 35910016 PMCID: PMC9335492 DOI: 10.3389/fbioe.2022.900389] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/20/2022] [Accepted: 06/07/2022] [Indexed: 11/13/2022] Open
Abstract
Geckos use millions of dry bristles on their toes to adhere to and rapidly run up walls and across ceilings. This has inspired the successful development of dry adhesive materials and their application to climbing robots. The tails of geckos also help realize adaptive and robust climbing behavior. Existing climbing robots with gecko-inspired tails have demonstrated improved locomotion performance. However, few studies have focused on the role of a robot’s gecko-inspired tail when climbing a sloped surface and its effects on the overall locomotion performance. Thus, this paper reviews and analyzes the roles of the tails of geckos and robots in terms of their climbing performances and compares the advantages and disadvantages of robots’ tails made of rigid and soft materials. This review could assist roboticists decide whether a tail is required for their robots and which materials and motion types to use for the tail in order to fulfill their desired functions and even allow the robots to adapt to different environments and tasks.
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Affiliation(s)
- Guangyuan Zang
- Institute of Bio-inspired Structure and Surface Engineering, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
- *Correspondence: Guangyuan Zang, ; Poramate Manoonpong,
| | - Zhendong Dai
- Institute of Bio-inspired Structure and Surface Engineering, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Poramate Manoonpong
- Institute of Bio-inspired Structure and Surface Engineering, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
- Bio-inspired Robotics and Neural Engineering Lab, School of Information Science and Technology, Vidyasirimedhi Institute of Science and Technology, Rayong, Thailand
- *Correspondence: Guangyuan Zang, ; Poramate Manoonpong,
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5
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Song Y, Weng Z, Yuan J, Zhang L, Wang Z, Dai Z, Full RJ. Incline-dependent adjustments of toes in geckos inspire functional strategies for biomimetic manipulators. BIOINSPIRATION & BIOMIMETICS 2022; 17:046010. [PMID: 35390775 DOI: 10.1088/1748-3190/ac6557] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/26/2021] [Accepted: 04/07/2022] [Indexed: 06/14/2023]
Abstract
Geckos show versatility by rapidly maneuvering on diverse complex terrain because they benefit from their distributed, setae-covered toes and thus have the ability to generate reliable and adaptive attachment. Significant attention has been paid to their adhesive microstructures (setae), but the effectiveness of the gecko's adaptive attachment at the level of toes and feet remains unclear. In order to better understand the geckos' attachment, we first focused on the deployment of toes while challenging geckos to locomote on varying inclines. When the slope angle was less than 30°, their feet mainly interacted with the substrate using the bases of the toes and generated anisotropic frictional forces. As the slope angle increased to 90°, the participation of the toe bases was reduced. Instead, the setae contribution increased for the middle three toes of the front feet and for the first three toes of the hind feet. As the incline changed from vertical to inverted, the adhesive contribution of the toes of the front feet became more equal, whereas the effective adhesion contact of the hind feet gradually shifted to the toes oriented rearwards. Second, a mathematical model was established and then suggested the potential advantages of distributed control among the toes to regulate foot force. Finally, a physical foot model containing five compliant, adjustable toes was constructed and validated the discoveries with regard to the animals. Using the gecko toes' control strategies, the artificial foot demonstrated diverse behavior regulating attachment forces. The success of the foot prototype not only tested our understanding of the mechanism of biological attachment, but also provided a demonstration for the design and control of gecko-inspired attachment devices, grippers and other manipulators.
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Affiliation(s)
- Yi Song
- College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing 210016, People's Republic of China
| | - Zhiyuan Weng
- College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing 210016, People's Republic of China
| | - Jiwei Yuan
- College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing 210016, People's Republic of China
| | - Linghao Zhang
- College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing 210016, People's Republic of China
| | - Zhouyi Wang
- College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing 210016, People's Republic of China
| | - Zhendong Dai
- College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing 210016, People's Republic of China
| | - Robert J Full
- Department of Integrative Biology, University of California, Berkeley, Valley Life Science Building, Berkeley, CA 94702, United States of America
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6
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Cheu AY, Reed SA, Mann SD, Bergmann PJ. Performance and Kinematic Differences Between Terrestrial and Aquatic Running in Anolis Sagrei. Integr Comp Biol 2022; 62:840-851. [PMID: 35561728 DOI: 10.1093/icb/icac031] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/15/2022] [Revised: 04/26/2022] [Accepted: 04/28/2022] [Indexed: 11/13/2022] Open
Abstract
Many animals frequently transition between different media while navigating their heterogeneous environments. These media vary in compliance, moisture content, and other characteristics that affect their physical properties. As a result, animals may need to alter their kinematics to adapt to potential changes in media while maintaining performance during predator escape and foraging. Due to its fluid nature, water is highly compliant, and although usually associated with swimming, water running has evolved in a variety of animals ranging from insects to mammals. While the best studied large water runners are the bipedal basilisk lizards (Basiliscus spp.), other lizards have also been observed to run across the surface of water, namely Hemidactylus platyurus, a house gecko, and in this study, Anolis sagrei, the brown anole. Unlike the basilisk lizard, the primarily arboreal Anolis sagrei is not adapted for water running. Moreover, water running in A. sagrei, similar to that of the house gecko, was primarily quadrupedal. Here, we tested for performance and kinematic differences between aquatic and terrestrial running and if the variance in performance and kinematic variables differed between the two media. We found no difference in average and maximum velocity between running on land and water. We also found that Anolis sagrei had higher hindlimb stride frequencies, decreased duty factor, and shorter stride lengths on water, as well as more erect postures. Finally, we found that most kinematics did not differ in variance between the two media, but of those that were different, almost all were more variable during terrestrial running. Our findings show that animals may be capable of specialized modes of locomotion, even if they are not obviously adapted for them, and that they may do this by modulating their kinematics to facilitate locomotion through novel environments.
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Affiliation(s)
- Amy Y Cheu
- Department of Biology, Clark University, Worcester, MA, USA
| | | | - Sara D Mann
- Department of Biology, Clark University, Worcester, MA, USA
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7
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Schwab F, Wiesemüller F, Mucignat C, Park YL, Lunati I, Kovac M, Jusufi A. Undulatory Swimming Performance Explored With a Biorobotic Fish and Measured by Soft Sensors and Particle Image Velocimetry. Front Robot AI 2022; 8:791722. [PMID: 35071335 PMCID: PMC8778575 DOI: 10.3389/frobt.2021.791722] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/08/2021] [Accepted: 11/10/2021] [Indexed: 01/20/2023] Open
Abstract
Due to the difficulty of manipulating muscle activation in live, freely swimming fish, a thorough examination of the body kinematics, propulsive performance, and muscle activity patterns in fish during undulatory swimming motion has not been conducted. We propose to use soft robotic model animals as experimental platforms to address biomechanics questions and acquire understanding into subcarangiform fish swimming behavior. We extend previous research on a bio-inspired soft robotic fish equipped with two pneumatic actuators and soft strain sensors to investigate swimming performance in undulation frequencies between 0.3 and 0.7 Hz and flow rates ranging from 0 to 20c m s in a recirculating flow tank. We demonstrate the potential of eutectic gallium-indium (eGaIn) sensors to measure the lateral deflection of a robotic fish in real time, a controller that is able to keep a constant undulatory amplitude in varying flow conditions, as well as using Particle Image Velocimetry (PIV) to characterizing swimming performance across a range of flow speeds and give a qualitative measurement of thrust force exerted by the physical platform without the need of externally attached force sensors. A detailed wake structure was then analyzed with Dynamic Mode Decomposition (DMD) to highlight different wave modes present in the robot's swimming motion and provide insights into the efficiency of the robotic swimmer. In the future, we anticipate 3D-PIV with DMD serving as a global framework for comparing the performance of diverse bio-inspired swimming robots against a variety of swimming animals.
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Affiliation(s)
- Fabian Schwab
- Locomotion in Biorobotic and Somatic Systems Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Fabian Wiesemüller
- Aerial Robotics Lab (ARL), Department of Aeronautics, Imperial College London, London, United Kingdom
- Materials and Technology Center of Robotics, EMPA, Zürich, Switzerland
| | - Claudio Mucignat
- Laboratory for Multiscale Studies in Building Physics, EMPA, Zürich, Switzerland
| | - Yong-Lae Park
- Soft Robotics and Bionics Lab, Department of Mechanical Engineering, Seoul National University, Seoul, South Korea
| | - Ivan Lunati
- Laboratory for Multiscale Studies in Building Physics, EMPA, Zürich, Switzerland
| | - Mirko Kovac
- Aerial Robotics Lab (ARL), Department of Aeronautics, Imperial College London, London, United Kingdom
- Materials and Technology Center of Robotics, EMPA, Zürich, Switzerland
| | - Ardian Jusufi
- Locomotion in Biorobotic and Somatic Systems Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
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8
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Siddall R, Byrnes G, Full RJ, Jusufi A. Tails stabilize landing of gliding geckos crashing head-first into tree trunks. Commun Biol 2021; 4:1020. [PMID: 34475510 PMCID: PMC8413312 DOI: 10.1038/s42003-021-02378-6] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/18/2020] [Accepted: 06/21/2021] [Indexed: 02/07/2023] Open
Abstract
Animals use diverse solutions to land on vertical surfaces. Here we show the unique landing of the gliding gecko, Hemidactylus platyurus. Our high-speed video footage in the Southeast Asian rainforest capturing the first recorded, subcritical, short-range glides revealed that geckos did not markedly decrease velocity prior to impact. Unlike specialized gliders, geckos crashed head-first with the tree trunk at 6.0 ± 0.9 m/s (~140 body lengths per second) followed by an enormous pitchback of their head and torso 103 ± 34° away from the tree trunk anchored by only their hind limbs and tail. A dynamic mathematical model pointed to the utility of tails for the fall arresting response (FAR) upon landing. We tested predictions by measuring foot forces during landing of a soft, robotic physical model with an active tail reflex triggered by forefoot contact. As in wild animals, greater landing success was found for tailed robots. Experiments showed that longer tails with an active tail reflex resulted in the lower adhesive foot forces necessary for stabilizing successful landings, with a tail shortened to 25% requiring over twice the adhesive foot force.
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Affiliation(s)
- Robert Siddall
- Locomotion in Biorobotic and Somatic Systems Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Greg Byrnes
- Department of Biology, Siena College, Loudonville, NY, USA
| | - Robert J Full
- Department of Integrative Biology, University of California at Berkeley, Berkeley, CA, USA
| | - Ardian Jusufi
- Locomotion in Biorobotic and Somatic Systems Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany.
- Department of Integrative Biology, University of California at Berkeley, Berkeley, CA, USA.
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9
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Schwab F, Lunsford ET, Hong T, Wiesemüller F, Kovac M, Park YL, Akanyeti O, Liao JC, Jusufi A. Body Caudal Undulation measured by Soft Sensors and emulated by Soft Artificial Muscles. Integr Comp Biol 2021; 61:1955-1965. [PMID: 34415009 PMCID: PMC8699111 DOI: 10.1093/icb/icab182] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/06/2021] [Revised: 08/15/2021] [Accepted: 08/18/2021] [Indexed: 11/16/2022] Open
Abstract
We propose the use of bio-inspired robotics equipped with soft sensor technologies to gain a better understanding of the mechanics and control of animal movement. Soft robotic systems can be used to generate new hypotheses and uncover fundamental principles underlying animal locomotion and sensory capabilities, which could subsequently be validated using living organisms. Physical models increasingly include lateral body movements, notably back and tail bending, which are necessary for horizontal plane undulation in model systems ranging from fish to amphibians and reptiles. We present a comparative study of the use of physical modeling in conjunction with soft robotics and integrated soft and hyperelastic sensors to monitor local pressures, enabling local feedback control, and discuss issues related to understanding the mechanics and control of undulatory locomotion. A parallel approach combining live animal data with biorobotic physical modeling promises to be beneficial for gaining a better understanding of systems in motion.
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Affiliation(s)
- Fabian Schwab
- Locomotion in Biorobotic and Somatic Systems Group, Max Planck Institute for Intelligent Systems, Heisenbergstraße 3, 70569, Stuttgart, Germany
| | - Elias T Lunsford
- Department of Biology, Whitney Laboratory for Marine Bioscience, University of Florida, Saint Augustine, Florida, 32080, U.S.A
| | - Taehwa Hong
- Department of Mechanical Engineering, Seoul National University, Seoul, 08826, Korea
| | - Fabian Wiesemüller
- Materials and Technology Center of Robotics, EMPA, Überlandstrasse 129, Zürich, 8600, Switzerland.,Aerial Robotics Lab (ARL), Department of Aeronautics, Imperial College London, South Kensington Campus, London, SW7 2AZ, UK
| | - Mirko Kovac
- Materials and Technology Center of Robotics, EMPA, Überlandstrasse 129, Zürich, 8600, Switzerland.,Aerial Robotics Lab (ARL), Department of Aeronautics, Imperial College London, South Kensington Campus, London, SW7 2AZ, UK
| | - Yong-Lae Park
- Department of Mechanical Engineering, Seoul National University, Seoul, 08826, Korea
| | - Otar Akanyeti
- Department of Biology, Whitney Laboratory for Marine Bioscience, University of Florida, Saint Augustine, Florida, 32080, U.S.A.,Department of Computer Science, Aberystwyth University, Aberystwyth, Ceredigion, SY23 3FL, UK
| | - James C Liao
- Department of Biology, Whitney Laboratory for Marine Bioscience, University of Florida, Saint Augustine, Florida, 32080, U.S.A
| | - Ardian Jusufi
- Locomotion in Biorobotic and Somatic Systems Group, Max Planck Institute for Intelligent Systems, Heisenbergstraße 3, 70569, Stuttgart, Germany
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10
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Siddall R, Byrnes G, Full RJ, Jusufi A. Mechanisms for mid-air reorientation using tail rotation in gliding geckos. Integr Comp Biol 2021; 61:478-490. [PMID: 34143210 PMCID: PMC8427175 DOI: 10.1093/icb/icab132] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/31/2021] [Revised: 05/18/2021] [Accepted: 06/17/2021] [Indexed: 12/27/2022] Open
Abstract
Arboreal animals face numerous challenges when negotiating complex three-dimensional terrain. Directed aerial descent or gliding flight allows for rapid traversal of arboreal environments, but presents control challenges. Some animals, such as birds or gliding squirrels, have specialized structures to modulate aerodynamic forces while airborne. However, many arboreal animals do not possess these specializations but still control posture and orientation in mid-air. One of the largest inertial segments in lizards is their tail. Inertial reorientation can be used to attain postures appropriate for controlled aerial descent. Here, we discuss the role of tail inertia in a range of mid-air reorientation behaviors using experimental data from geckos in combination with mathematical and robotic models. Geckos can self-right in mid-air by tail rotation alone. Equilibrium glide behavior of geckos in a vertical wind tunnel show that they can steer toward a visual stimulus by using rapid, circular tail rotations to control pitch and yaw. Multiple coordinated tail responses appear to be required for the most effective terminal velocity gliding. A mathematical model allows us to explore the relationship between morphology and the capacity for inertial reorientation by conducting sensitivity analyses, and testing control approaches. Robotic models further define the limits of performance and generate new control hypotheses. Such comparative analysis allows predictions about the diversity of performance across lizard morphologies, relative limb proportions, and provides insights into the evolution of aerial behaviors.
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Affiliation(s)
- Robert Siddall
- Locomotion in Biorobotic and Somatic Systems Group, Max Planck Institute for Intelligent Systems, Heisenbergstraße 3, 70569, Stuttgart, Germany
| | - Greg Byrnes
- Department of Biology, Siena College, 515 Loudon Rd, New York, 12211, USA
| | - Robert J Full
- Department of Integrative Biology, University of California, Berkeley, 3040 Valley Life Sciences Building 3140, California, 94720-3140, USA
| | - Ardian Jusufi
- Locomotion in Biorobotic and Somatic Systems Group, Max Planck Institute for Intelligent Systems, Heisenbergstraße 3, 70569, Stuttgart, Germany
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11
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Shield S, Jericevich R, Patel A, Jusufi A. Tails, Flails, and Sails: How Appendages Improve Terrestrial Maneuverability by Improving Stability. Integr Comp Biol 2021; 61:506-520. [PMID: 34050735 PMCID: PMC8633431 DOI: 10.1093/icb/icab108] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/08/2021] [Revised: 04/27/2021] [Accepted: 05/27/2021] [Indexed: 12/20/2022] Open
Abstract
Trade-offs in maneuverability and stability are essential in ecologically relevant situations with respect to robustness of locomotion, with multiple strategies apparent in animal model systems depending on their habitat and ecology. Free appendages such as tails and ungrounded limbs may assist in navigating this trade-off by assisting with balance, thereby increasing the acceleration that can be achieved without destabilizing the body. This comparative analysis explores the inertial mechanisms and, in some cases, fluid dynamic mechanisms by which appendages contribute to the stabilization of gait and perturbation response behaviors in a wide variety of animals. Following a broad review of examples from nature and bio-inspired robotics that illustrate the importance of appendages to the control of body orientation, two specific cases are examined through preliminary experiments: the role of arm motion in bipedal gait termination is explored using trajectory optimization, and the role of the cheetah’s tail during a deceleration maneuver is analyzed based on motion capture data. In both these examples, forward rotation of the appendage in question is found to counteract the unwanted forward pitch caused by the braking forces. It is theorized that this stabilizing action may facilitate more rapid deceleration by allowing larger or longer-acting braking forces to be applied safely.
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Affiliation(s)
- Stacey Shield
- African Robotics Unit, University of Cape Town, South Africa
| | | | - Amir Patel
- African Robotics Unit, University of Cape Town, South Africa
| | - Ardian Jusufi
- African Robotics Unit, University of Cape Town, South Africa.,Locomotion in Biorobotic and Somatic Systems, Max Planck Institute for Intelligent Systems, Heisenbergstrasse 3, 70569, Germany
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12
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Siddall R, Fukushima T, Bardhi D, Perteshoni B, Morina A, Hasimja E, Dujaka Y, Haziri G, Martin L, Banerjee H, Jusufi A. Compliance, mass distribution and contact forces in cursorial and scansorial locomotion with biorobotic physical models. Adv Robot 2021. [DOI: 10.1080/01691864.2021.1887760] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/26/2023]
Affiliation(s)
- Robert Siddall
- Locomotion in Biorobotic and Somatic Systems Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Toshihiko Fukushima
- Locomotion in Biorobotic and Somatic Systems Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Drilon Bardhi
- Faculty of Medicine, University of Prishtina ‘Hasan Prishtina’, Pristina, Kosovo
| | - Buna Perteshoni
- Department of Manufacturing, Des Moines Area Community College, Des Moines, USA
| | - Albulena Morina
- Faculty of Mathematical and Natural Sciences, University of Prishtina “Hasan Prishtina”, Pristina, Kosovo
| | - Era Hasimja
- Faculty of Engineering and Computer Science, University for Business and Technology, Pristina, Kosovo
| | - Yll Dujaka
- Faculty of Electrical and Computer Engineering, University of Prishtina “Hasan Prishtina”, Pristina, Kosovo
| | - Gezim Haziri
- Faculty of Electrical and Computer Engineering, University of Prishtina “Hasan Prishtina”, Pristina, Kosovo
| | - Lina Martin
- Locomotion in Biorobotic and Somatic Systems Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Hritwick Banerjee
- Locomotion in Biorobotic and Somatic Systems Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Ardian Jusufi
- Locomotion in Biorobotic and Somatic Systems Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
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13
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Ai J, Guo Z, Liu W. Superamphiphobic coatings with antifouling and nonflammable properties using functionalized hydroxyapatite. NEW J CHEM 2021. [DOI: 10.1039/d1nj00277e] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/10/2023]
Abstract
Functional superamphiphobic coatings have attracted much attention due to their promising application prospects in oil transportation and anti-contamination, which call for the requirements of flame retardancy.
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Affiliation(s)
- Jixin Ai
- Hubei Collaborative Innovation Centre for Advanced Organic Chemical Materials and Ministry of Education Key Laboratory for the Green Preparation and Application of Functional Materials
- Hubei University
- Wuhan 430062
- People's Republic of China
- State Key Laboratory of Solid Lubrication
| | - Zhiguang Guo
- Hubei Collaborative Innovation Centre for Advanced Organic Chemical Materials and Ministry of Education Key Laboratory for the Green Preparation and Application of Functional Materials
- Hubei University
- Wuhan 430062
- People's Republic of China
- State Key Laboratory of Solid Lubrication
| | - Weimin Liu
- State Key Laboratory of Solid Lubrication
- Lanzhou Institute of Chemical Physics
- Chinese Academy of Sciences
- Lanzhou 730000
- People's Republic of China
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14
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Riedel J, Vucko MJ, Blomberg SP, Schwarzkopf L. Skin hydrophobicity as an adaptation for self-cleaning in geckos. Ecol Evol 2020; 10:4640-4651. [PMID: 32551049 PMCID: PMC7297746 DOI: 10.1002/ece3.6218] [Citation(s) in RCA: 10] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/04/2019] [Revised: 02/25/2020] [Accepted: 03/02/2020] [Indexed: 12/16/2022] Open
Abstract
Hydrophobicity is common in plants and animals, typically caused by high relief microtexture functioning to keep the surface clean. Although the occurrence and physical causes of hydrophobicity are well understood, ecological factors promoting its evolution are unclear. Geckos have highly hydrophobic integuments. We predicted that, because the ground is dirty and filled with pathogens, high hydrophobicity should coevolve with terrestrial microhabitat use. Advancing contact-angle (ACA) measurements of water droplets were used to quantify hydrophobicity in 24 species of Australian gecko. We reconstructed the evolution of ACA values, in relation to microhabitat use of geckos. To determine the best set of structural characteristics associated with the evolution of hydrophobicity, we used linear models fitted using phylogenetic generalized least squares (PGLS), and then model averaging based on AICc values. All species were highly hydrophobic (ACA > 132.72°), but terrestrial species had significantly higher ACA values than arboreal ones. The evolution of longer spinules and smaller scales was correlated with high hydrophobicity. These results suggest that hydrophobicity has coevolved with terrestrial microhabitat use in Australian geckos via selection for long spinules and small scales, likely to keep their skin clean and prevent fouling and disease.
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Affiliation(s)
- Jendrian Riedel
- College of Science and EngineeringJames Cook UniversityTownsvilleQld.Australia
| | - Matthew John Vucko
- College of Science and EngineeringJames Cook UniversityTownsvilleQld.Australia
| | - Simone P. Blomberg
- School of Biological SciencesUniversity of QueenslandSt. LuciaQld.Australia
| | - Lin Schwarzkopf
- College of Science and EngineeringJames Cook UniversityTownsvilleQld.Australia
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15
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Bakker FT, Antonelli A, Clarke JA, Cook JA, Edwards SV, Ericson PGP, Faurby S, Ferrand N, Gelang M, Gillespie RG, Irestedt M, Lundin K, Larsson E, Matos-Maraví P, Müller J, von Proschwitz T, Roderick GK, Schliep A, Wahlberg N, Wiedenhoeft J, Källersjö M. The Global Museum: natural history collections and the future of evolutionary science and public education. PeerJ 2020; 8:e8225. [PMID: 32025365 PMCID: PMC6993751 DOI: 10.7717/peerj.8225] [Citation(s) in RCA: 47] [Impact Index Per Article: 11.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/18/2019] [Accepted: 11/15/2019] [Indexed: 12/27/2022] Open
Abstract
Natural history museums are unique spaces for interdisciplinary research and educational innovation. Through extensive exhibits and public programming and by hosting rich communities of amateurs, students, and researchers at all stages of their careers, they can provide a place-based window to focus on integration of science and discovery, as well as a locus for community engagement. At the same time, like a synthesis radio telescope, when joined together through emerging digital resources, the global community of museums (the ‘Global Museum’) is more than the sum of its parts, allowing insights and answers to diverse biological, environmental, and societal questions at the global scale, across eons of time, and spanning vast diversity across the Tree of Life. We argue that, whereas natural history collections and museums began with a focus on describing the diversity and peculiarities of species on Earth, they are now increasingly leveraged in new ways that significantly expand their impact and relevance. These new directions include the possibility to ask new, often interdisciplinary questions in basic and applied science, such as in biomimetic design, and by contributing to solutions to climate change, global health and food security challenges. As institutions, they have long been incubators for cutting-edge research in biology while simultaneously providing core infrastructure for research on present and future societal needs. Here we explore how the intersection between pressing issues in environmental and human health and rapid technological innovation have reinforced the relevance of museum collections. We do this by providing examples as food for thought for both the broader academic community and museum scientists on the evolving role of museums. We also identify challenges to the realization of the full potential of natural history collections and the Global Museum to science and society and discuss the critical need to grow these collections. We then focus on mapping and modelling of museum data (including place-based approaches and discovery), and explore the main projects, platforms and databases enabling this growth. Finally, we aim to improve relevant protocols for the long-term storage of specimens and tissues, ensuring proper connection with tomorrow’s technologies and hence further increasing the relevance of natural history museums.
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Affiliation(s)
- Freek T Bakker
- Biosystematics Group, Wageningen University & Research, Wageningen, The Netherlands
| | | | - Julia A Clarke
- Jackson School of Geosciences, University of Texas at Austin, Austin, TX, United States of America
| | - Joseph A Cook
- Museum of Southwestern Biology, Department of Biology, University of New Mexico, Albuquerque, NM, United States of America
| | - Scott V Edwards
- Department of Organismic and Evolutionary Biology, Museum of Comparative Zoology, Harvard University, Cambridge, MA, United States of America.,Gothenburg Centre for Advanced Studies in Science and Technology, Chalmers University of Technology and University of Gothenburg, Göteborg, Sweden
| | - Per G P Ericson
- Department of Bioinformatics and Genetics, Swedish Museum of Natural History, Stockholm, Sweden
| | - Søren Faurby
- Department of Biological and Environmental Sciences, Gothenburg Global Biodiversity Centre, University of Gothenburg, Göteborg, Sweden
| | - Nuno Ferrand
- Museu de História Natural e da Ciência, Universidade do Porto, Porto, Portugal
| | - Magnus Gelang
- Department of Zoology, Gothenburg Natural History Museum, Göteborg, Sweden.,Gothenburg Global Biodiversity Centre, University of Gothenburg, Göteborg, Sweden
| | - Rosemary G Gillespie
- Essig Museum of Entomology, Department of Environmental Science, Policy and Management, University of California, Berkeley, Berkeley, CA, United States of America
| | - Martin Irestedt
- Department of Bioinformatics and Genetics, Swedish Museum of Natural History, Stockholm, Sweden
| | - Kennet Lundin
- Department of Zoology, Gothenburg Natural History Museum, Göteborg, Sweden.,Gothenburg Global Biodiversity Centre, University of Gothenburg, Göteborg, Sweden
| | - Ellen Larsson
- Department of Biological and Environmental Sciences, Gothenburg Global Biodiversity Centre, University of Gothenburg, Göteborg, Sweden.,Gothenburg Global Biodiversity Centre, University of Gothenburg, Göteborg, Sweden
| | - Pável Matos-Maraví
- Biology Centre of the Czech Academy of Sciences, Institute of Entomology, České Budějovice, Czechia
| | - Johannes Müller
- Leibniz-Institut für Evolutions- und Biodiversitätsforschung, Museum für Naturkunde, Berlin, Germany
| | - Ted von Proschwitz
- Department of Zoology, Gothenburg Natural History Museum, Göteborg, Sweden.,Gothenburg Global Biodiversity Centre, University of Gothenburg, Göteborg, Sweden
| | - George K Roderick
- Essig Museum of Entomology, Department of Environmental Science, Policy and Management, University of California, Berkeley, Berkeley, CA, United States of America
| | - Alexander Schliep
- Department of Computer Science and Engineering, University of Gothenburg, Göteborg, Sweden
| | | | - John Wiedenhoeft
- Department of Computer Science and Engineering, University of Gothenburg, Göteborg, Sweden
| | - Mari Källersjö
- Gothenburg Global Biodiversity Centre, University of Gothenburg, Göteborg, Sweden.,Gothenburg Botanical Garden, Göteborg, Sweden
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