Energy and time optimal trajectories in exploratory jumps of the spider Phidippus regius

Putting a new spin on insect jumping performance using 3D modeling and computer simulations of spotted lanternfly nymphs

How animals jump and land on diverse surfaces is ecologically important and relevant to bioinspired robotics. Here, we describe the jumping biomechanics of the planthopper Lycorma delicatula (spotted lanternfly), an invasive insect in the USA that jumps frequently for dispersal, locomotion and predator evasion. High-speed video was used to analyze jumping by spotted lanternfly nymphs from take-off to impact on compliant surfaces. These insects used rapid hindleg extensions to achieve high take-off speeds (2.7-3.4 m s-1) and accelerations (800-1000 m s-2), with mid-air trajectories consistent with ballistic motion without drag forces or steering. Despite rotating rapidly (5-45 Hz) about time-varying axes of rotation, they landed successfully in 58.9% of trials. They also attained the most successful impact orientation significantly more often than predicted by chance, consistent with their using attitude control. Notably, these insects were able to land successfully when impacting surfaces at all angles, pointing to the importance of collisional recovery behaviors. To further understand their rotational dynamics, we created realistic 3D rendered models of spotted lanternflies and used them to compute their mechanical properties during jumping. Computer simulations based on these models and drag torques estimated from fits to tracked data successfully predicted several features of the measured rotational kinematics. This analysis showed that the rotational inertia of spotted lanternfly nymphs is predominantly due to their legs, enabling them to use posture changes as well as drag torque to control their angular velocity, and hence their orientation, thereby facilitating predominately successful landings when jumping.

A Spider-Joint-like Bionic Actuator with an Approximately Triangular Prism Shape

The unique drive principle and strong manipulation ability of spider legs have led to several bionic robot designs. However, some parameters of bionic actuators still need to be improved, such as torque. Inspired by the hydraulic drive principle of spider legs, this paper describes the design of a bionic actuator characterized by the use of air pressure on each surface and its transmittance in the direction of movement, achieving a torque amplification effect. The produced torque is as high as 4.78 N m. In addition, its torque characteristics during folding motions are similar to those during unfolding motions, showing that the bionic actuator has stable bidirectional drive capability.

Spider-Inspired Electrohydraulic Actuators for Fast, Soft-Actuated Joints

The impressive locomotion and manipulation capabilities of spiders have led to a host of bioinspired robotic designs aiming to reproduce their functionalities; however, current actuation mechanisms are deficient in either speed, force output, displacement, or efficiency. Here-using inspiration from the hydraulic mechanism used in spider legs-soft-actuated joints are developed that use electrostatic forces to locally pressurize a hydraulic fluid, and cause flexion of a segmented structure. The result is a lightweight, low-profile articulating mechanism capable of fast operation, high forces, and large displacement; these devices are termed spider-inspired electrohydraulic soft-actuated (SES) joints. SES joints with rotation angles up to 70°, blocked torques up to 70 mN m, and specific torques up to 21 N m kg-1 are demonstrated. SES joints demonstrate high speed operation, with measured roll-off frequencies up to 24 Hz and specific power as high as 230 W kg-1 -similar to human muscle. The versatility of these devices is illustrated by combining SES joints to create a bidirectional joint, an artificial limb with independently addressable joints, and a compliant gripper. The lightweight, low-profile design, and high performance of these devices, makes them well-suited toward the development of articulating robotic systems that can rapidly maneuver.

Fluid mechanics and rheology of the jumping spider body fluid

Spiders use their inner body fluid ("blood" or hemolymph) to drive hydraulic extension of their legs. In hydraulic systems, performance is highly dependent on the working fluid, which needs to be chosen according to the required operating speed and pressure. Here, we provide new insights into the fluid mechanics of spider locomotion. We present the three-dimensional structure of one of the crucial joints in spider hydraulic actuation, elucidate the fluid flow inside the spider leg, and quantify the rheological properties of hemolymph under physiological conditions. We observe that hemolymph behaves as a shear-thinning non-Newtonian fluid with a fluid behavior index n = 0.5, unlike water (n = 1.0).

Body-catapult mechanism of the sandhopper jump and its biomimetic implications

Power amplification with catapult-like structures in arthropods is well studied, including the jump mechanism of natural organisms and biomimetic applications in robotics. Most catapult jump mechanisms have been developed based on animals that use legs to jump. However, jumps of some arthropods that use body parts other than legs and that show outstanding performance have been less studied until now. Here, we experimentally studied the jumping behavior of the sandhopper Talitrus saltator to determine whether they jump through the catapult mechanism and identify its critical catapult structures. The results showed that the sandhopper jumps through a body-catapult mechanism (muscle-specific power output: 1.7-5.7 kW/kg, 3.4-11.4 times the power output limit of arthropod muscle). The arch-shaped structures at the fore margin of the five posterior segments can provide a large amount of strain energy storage and account for more than 80% of the total kinetic energy demand. In addition, we build a biomimetic bi-segment device whose extension movement is actuated by sandhopper-inspired spring units. The results indicate that a multi-segmented robotic configuration can achieve rapid jumps based on the same principles of the body-catapult mechanism of the sandhopper.

Role of legs and foot adhesion in salticid spiders jumping from smooth surfaces

Many spiders and insects can perform rapid jumps from smooth plant surfaces. Here, we investigate how jumping spiders (Pseudeuophrys lanigera and Sitticus pubescens) avoid slipping when accelerating. Both species differed in the relative contribution of leg pairs to the jump. P. lanigera accelerated mainly with their long third legs, whereas their short fourth legs detached earlier. In contrast, S. pubescens accelerated mainly with their long fourth legs, and their short third legs detached earlier. Because of the different orientation (fourth-leg tip pointing backward, third-leg tip pointing forward), the fourth-leg tarsus pushed, whereas the third-leg tarsus pulled. High-speed video recordings showed that pushing and pulling was achieved by different attachment structures. In P. lanigera, third-leg feet made surface contact with setae on their distal or lateral claw tuft, whereas fourth-leg feet engaged the proximal claw tuft, and the distal tuft was raised off the ground. S. pubescens showed the same division of labour between proximal and distal claw tuft for pushing and pulling, but the claw tuft contact lasted longer and was more visible in the fourth than in the third legs. Experimental ablation of claw tufts caused accelerating spiders to slip, confirming that adhesion is essential for jumps from smooth substrates.

Jump takeoff in a small jumping spider

Jumping in animals presents an interesting locomotory strategy as it requires the generation of large forces and accurate timing. Jumping in arachnids is further complicated by their semi-hydraulic locomotion system. Among arachnids, jumping spiders (Family Salticidae) are agile and dexterous jumpers. However, less is known about jumping in small salticid species. Here we used Habronattus conjunctus, a small jumping spider (body length ~ 4.5 mm) to examine its jumping performance and compare it to that of other jumping spiders and insects. We also explored how legs are used during the takeoff phase of jumps. Jumps were staged between two raised platforms. We analyzed jumping videos with DeepLabCut to track 21 points on the cephalothorax, abdomen, and legs. By analyzing leg liftoff and extension patterns, we found evidence that H. conjunctus primarily uses the third legs to power jumps. We also found that H. conjunctus jumps achieve lower takeoff speeds and accelerations than most other jumping arthropods, including other jumping spiders. Habronattus conjunctus takeoff time was similar to other jumping arthropods of the same body mass. We discuss the mechanical benefits and drawbacks of a semi-hydraulic system of locomotion and consider how small spiders may extract dexterous jumps from this locomotor system.

Locomotion and kinematics of arachnids

A basic feature of animals is the capability to move and disperse. Arachnids are one of the oldest lineages of terrestrial animals and characterized by an octopodal locomotor apparatus with hydraulic limb extension. Their locomotion repertoire includes running, climbing, jumping, but also swimming, diving, abseiling, rolling, gliding and -passively- even flying. Studying the unique locomotor functions and movement ecology of arachnids is important for an integrative understanding of the ecology and evolution of this diverse and ubiquitous animal group. Beyond biology, arachnid locomotion is inspiring robotic engineers. The aim of this special issue is to display the state of the interdisciplinary research on arachnid locomotion, linking physiology and biomechanics with ecology, ethology and evolutionary biology. It comprises five reviews and ten original research reports covering diverse topics, ranging from the neurophysiology of arachnid movement, the allometry and sexual dimorphism of running kinematics, the effect of autotomy or heavy body parts on locomotor efficiency, and the evolution of silk-spinning choreography, to the biophysics of ballooning and ballistic webs. This closes a significant gap in the literature on animal biomechanics.

Spider Origami: Folding Principle of Jumping Spider Leg Joints for Bioinspired Fluidic Actuators

Jumping spiders (Phidippus regius) are known for their ability to traverse various terrains and have targeted jumps within the fraction of a second to catch flying preys. Different from humans and insects, spiders use muscles to flex their legs, and hydraulic actuation for extension. By pressurizing their inner body fluid, they can achieve fast leg extensions for running and jumping. Here, the working principle of the articular membrane covering the spider leg joint pit is investigated. This membrane is highly involved in walking, grasping, and jumping motions. Hardness and stiffness of the articular membrane is studied using nanoindentation tests and preparation methods for scanning electron microscopy and histology are developed to give detailed information about the inner and outer structure of the leg joint and its membrane. Inspired by the stroller umbrella-like folding mechanism of the articular membrane, a robust thermoplastic polyurethane-based rotary semifluidic actuator is demonstrated, which shows increased durability, achieves working angles over 120°, produces high torques which allows lifts over 100 times of its own weight and jumping abilities. The developed actuator can be used for future grasping tasks, safe human-robot interactions and multilocomotion ground robot applications, and it can shed light into spider locomotion-related questions.

Jumping Locomotion Strategies: From Animals to Bioinspired Robots

Jumping is a locomotion strategy widely evolved in both invertebrates and vertebrates. In addition to terrestrial animals, several aquatic animals are also able to jump in their specific environments. In this paper, the state of the art of jumping robots has been systematically analyzed, based on their biological model, including invertebrates (e.g., jumping spiders, locusts, fleas, crickets, cockroaches, froghoppers and leafhoppers), vertebrates (e.g., frogs, galagoes, kangaroos, humans, dogs), as well as aquatic animals (e.g., both invertebrates and vertebrates, such as crabs, water-striders, and dolphins). The strategies adopted by animals and robots to control the jump (e.g., take-off angle, take-off direction, take-off velocity and take-off stability), aerial righting, land buffering, and resetting are concluded and compared. Based on this, the developmental trends of bioinspired jumping robots are predicted.

Design of Tendon-Driven Mechanism Using Geometrical Condition

A tendon-driven robot offers many advantages, such as easy designs for mass distribution that facilitate dexterous motion. A procedure to design such a robot using a single actuator to achieve the desired force direction and magnitude on an endpoint is presented herein. The force on the endpoint is generated by the single actuator and a wire that passes through pulleys attached on links. To set the pulley position for the desired force direction and magnitude, a geometrical condition is proposed. To evaluate the proposed method, a physical monopod robot was developed. We compared the calculated and physical forces on the endpoint of the physical robot for the desired directions. Finally, we confirmed that the proposed method provided the desired force on the endpoint without iterative trials.

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.

Designing minimal and scalable insect-inspired multi-locomotion millirobots

In ant colonies, collectivity enables division of labour and resources^1-3 with great scalability. Beyond their intricate social behaviours, individuals of the genus Odontomachus⁴, also known as trap-jaw ants, have developed remarkable multi-locomotion mechanisms to 'escape-jump' upwards when threatened, using the sudden snapping of their mandibles⁵, and to negotiate obstacles by leaping forwards using their legs⁶. Emulating such diverse insect biomechanics and studying collective behaviours in a variety of environments may lead to the development of multi-locomotion robotic collectives deployable in situations such as emergency relief, exploration and monitoring⁷; however, reproducing these abilities in small-scale robotic systems with simple design and scalability remains a key challenge. Existing robotic collectives^8-12 are confined to two-dimensional surfaces owing to limited locomotion, and individual multi-locomotion robots^13-17 are difficult to scale up to large groups owing to the increased complexity, size and cost of hardware designs, which hinder mass production. Here we demonstrate an autonomous multi-locomotion insect-scale robot (millirobot) inspired by trap-jaw ants that addresses the design and scalability challenges of small-scale terrestrial robots. The robot's compact locomotion mechanism is constructed with minimal components and assembly steps, has tunable power requirements, and realizes five distinct gaits: vertical jumping for height, horizontal jumping for distance, somersault jumping to clear obstacles, walking on textured terrain and crawling on flat surfaces. The untethered, battery-powered millirobot can selectively switch gaits to traverse diverse terrain types, and groups of millirobots can operate collectively to manipulate objects and overcome obstacles. We constructed the ten-gram palm-sized prototype-the smallest and lightest self-contained multi-locomotion robot reported so far-by folding a quasi-two-dimensional metamaterial¹⁸ sandwich formed of easily integrated mechanical, material and electronic layers, which will enable assembly-free mass-manufacturing of robots with high task efficiency, flexibility and disposability.

Risk assessment and the use of novel shortcuts in spatial detouring tasks in jumping spiders

Selection on individuals that incorporate risk to quickly and accurately make a priori navigational assessments may lead to increased spatial ability. Jumping spiders (Araneae: Salticidae) are characterized by their highly acute vision, which mediates many behaviors, including prey capture and navigation. When moving to a specific goal (prey, nest, a potential mate, etc.), salticids rely on visual cues and spatial memory to orient in 3-dimensional space. Salticid spatial ability has been studied in homing and detour tasks, with Portia being considered one of the most skillful genera in terms of spatial ability in the family. Commonly living in complex environments, salticids are likely to encounter a wide variety of routes that could lead to a goal, and, as selection favors individuals that can accurately make assessments, they may be able to assess alternative route distances to select the most efficient route. Here, we tested whether 2 salticid species (Portia fimbriata and Trite planiceps) can discriminate and assess between different available routes by their length, and riskiness to escape from a stressful scenario. Results suggest that while Portia is more likely to choose the easiest and shortest escape routes, Trite is faster in both decision making about which route to take, and to escape. However, some individuals were able to use novel shortcuts instead of the routes expected, with Portia containing a higher proportion of shortcut-takers than Trite. These differences in spatial ability seem to correspond with the environmental complexity inhabited by each species.