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Han Q, Chen Y, Shen H, Wang W, Liu X, Wen S, Qi Q, Dai Z, Yu Z, Gorb SN, Ji A. Interleg coordination in free-walking bug Erthesina fullo (Hemiptera: Pentatomidae). INSECT SCIENCE 2024. [PMID: 38980274 DOI: 10.1111/1744-7917.13412] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/21/2024] [Revised: 06/09/2024] [Accepted: 06/11/2024] [Indexed: 07/10/2024]
Abstract
Insects can adapt their walking patterns to complex and varied environments and retain the ability to walk even after significant changes in their physical attributes, such as amputation. Although the interleg coordination of intact insects has been widely described in previous studies, the adaptive walking patterns in free-walking insects with amputation of 1 or more legs are still unclear. The pentatomid bug Erthesina fullo exhibits a tripod gait, when walking freely on horizontal substrates, like many other insects. In this study, amputations were performed on this species to investigate changes in interleg coordination. The walking parameters were analyzed, such as the locations of touchdown and liftoff, cycle period, walking speed, and head displacement of intact and amputated insects. The results show that E. fullo displays adaptive interleg coordination in response to amputations. With 1 amputated leg, bugs changed to a 3-unit gait, whereas with 2 amputated legs they employed a wave gait. These data are helpful in exploring the motion mode control in walking insects and provide the theoretical basis for the gait control strategy of robots, when leg failure occurs.
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Affiliation(s)
- Qingfei Han
- Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
- Laboratory of Intelligent Machines, School of Energy Systems, Lappeenranta-Lahti University of Technology, Lappeenranta, Finland
| | - Yuyu Chen
- Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Huan Shen
- Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Wei Wang
- School of Marine Engineering Equipment, Zhejiang Ocean University, Zhoushan, Zhejiang Province, China
| | - Xuefei Liu
- Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Shikun Wen
- Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Qian Qi
- Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Zhendong Dai
- Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Zhiwei Yu
- Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Stanislav N Gorb
- Department of Functional Morphology and Biomechanics, Kiel University, Kiel, Germany
| | - Aihong Ji
- Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
- Jiangsu Key Laboratory of Bionic Materials and Equipment, Nanjing, China
- State Key Laboratory of Mechanics and Control for Aerospace Structures, Nanjing University of Aeronautics and Astronautics, Nanjing, China
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Baruzzi V, Lodi M, Storace M. Optimization strategies to obtain smooth gait transitions through biologically plausible central pattern generators. Phys Rev E 2024; 109:014404. [PMID: 38366407 DOI: 10.1103/physreve.109.014404] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/11/2023] [Accepted: 12/07/2023] [Indexed: 02/18/2024]
Abstract
Central pattern generators are small networks that contribute to generating animal locomotion. The models used to study gait generation and gait transition mechanisms often require biologically accurate neuron and synapse models, with high dimensionality and complex dynamics. Tuning the parameters of these models to elicit network dynamics compatible with gait features is not a trivial task, due to the impossibility of inferring a priori the effects of each parameter on the nonlinear system's emergent dynamics. In this paper we explore the use of global optimization strategies for parameter optimization in multigait central pattern generator (CPG) models with complex cell dynamics and minimal topology. We first consider an existing quadruped CPG model as a test bed for the objective function formulation, then proceed to optimize the parameters of a newly proposed multigait, interlimb hexapod CPG model. We successfully obtain hexapod gaits and prompt gait transitions by varying only control currents, while all CPG parameters, once optimized, are kept fixed. This mechanism of gait transitions is compatible with short-term synaptic plasticity.
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Affiliation(s)
- V Baruzzi
- Department of Electrical, Electronics and Telecommunication Engineering and Naval Architecture, University of Genoa, 16145 Genoa, Italy
| | - M Lodi
- Department of Electrical, Electronics and Telecommunication Engineering and Naval Architecture, University of Genoa, 16145 Genoa, Italy
| | - M Storace
- Department of Electrical, Electronics and Telecommunication Engineering and Naval Architecture, University of Genoa, 16145 Genoa, Italy
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Nirody JA. Flexible locomotion in complex environments: the influence of species, speed and sensory feedback on panarthropod inter-leg coordination. J Exp Biol 2023; 226:297127. [PMID: 36912384 DOI: 10.1242/jeb.245111] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 03/14/2023]
Abstract
Panarthropods (a clade containing arthropods, tardigrades and onychophorans) can adeptly move across a wide range of challenging terrains and their ability to do so given their relatively simple nervous systems makes them compelling study organisms. Studies of forward walking on flat terrain excitingly point to key features in inter-leg coordination patterns that seem to be 'universally' shared across panarthropods. However, when movement through more complex, naturalistic terrain is considered, variability in coordination patterns - from the intra-individual to inter-species level - becomes more apparent. This variability is likely to be due to the interplay between sensory feedback and local pattern-generating activity, and depends crucially on species, walking speed and behavioral goal. Here, I gather data from the literature of panarthropod walking coordination on both flat ground and across more complex terrain. This Review aims to emphasize the value of: (1) designing experiments with an eye towards studying organisms in natural environments; (2) thoughtfully integrating results from various experimental techniques, such as neurophysiological and biomechanical studies; and (3) ensuring that data is collected and made available from a wider range of species for future comparative analyses.
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Affiliation(s)
- Jasmine A Nirody
- Department of Organismal Biology and Anatomy, University of Chicago, Chicago, IL 60637, USA
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Sun T, Dai Z, Manoonpong P. Robust and reusable self-organized locomotion of legged robots under adaptive physical and neural communications. Front Neural Circuits 2023; 17:1111285. [PMID: 37063383 PMCID: PMC10102392 DOI: 10.3389/fncir.2023.1111285] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/29/2022] [Accepted: 03/16/2023] [Indexed: 04/03/2023] Open
Abstract
IntroductionAnimals such as cattle can achieve versatile and elegant behaviors through automatic sensorimotor coordination. Their self-organized movements convey an impression of adaptability, robustness, and motor memory. However, the adaptive mechanisms underlying such natural abilities of these animals have not been completely realized in artificial legged systems.MethodsHence, we propose adaptive neural control that can mimic these abilities through adaptive physical and neural communications. The control algorithm consists of distributed local central pattern generator (CPG)-based neural circuits for generating basic leg movements, an adaptive sensory feedback mechanism for generating self-organized phase relationships among the local CPG circuits, and an adaptive neural coupling mechanism for transferring and storing the formed phase relationships (a gait pattern) into the neural structure. The adaptive neural control was evaluated in experiments using a quadruped robot.ResultsThe adaptive neural control enabled the robot to 1) rapidly and automatically form its gait (i.e., self-organized locomotion) within a few seconds, 2) memorize the gait for later recovery, and 3) robustly walk, even when a sensory feedback malfunction occurs. It also enabled maneuverability, with the robot being able to change its walking speed and direction. Moreover, implementing adaptive physical and neural communications provided an opportunity for understanding the mechanism of motor memory formation.DiscussionOverall, this study demonstrates that the integration of the two forms of communications through adaptive neural control is a powerful way to achieve robust and reusable self-organized locomotion in legged robots.
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Affiliation(s)
- Tao Sun
- Neurorobotics Technology for Advanced Robot Motor Control Lab, The College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
- Wearable Systems Lab, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
| | - Zhendong Dai
- Neurorobotics Technology for Advanced Robot Motor Control Lab, The College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Poramate Manoonpong
- Neurorobotics Technology for Advanced Robot Motor Control Lab, The 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: Poramate Manoonpong ;
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Tross J, Wolf H, Stemme T, Pfeffer SE. Locomotion in the pseudoscorpion Chelifer cancroides - forward, backward and upside down walking in an eight-legged arthropod. J Exp Biol 2022; 225:275033. [PMID: 35438154 DOI: 10.1242/jeb.243930] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/21/2021] [Accepted: 04/11/2022] [Indexed: 11/20/2022]
Abstract
While insect locomotion has been intensively studied, there are comparably few studies investigating octopedal walking behaviour, and very little is known about pseudoscorpions in particular. Therefore, we performed an extensive locomotion analysis during forward, backward and upside down walking in the cosmopolitan pseudoscorpion Chelifer cancroides. During forward locomotion, we observed C. cancroides to freeze locomotion frequently for short time periods. These microstops were barely visible to the naked eye with a duration of 100-200 ms. Our locomotion analysis revealed that C. cancroides performs a statically stable and highly coordinated alternating tetrapod gait during forward and backward walking, with almost complete inversion of the tetrapod schemes, but no rigidly fixed leg coordination during upside down walks with low walking speeds up to 4 body lengths per second. Highest speeds (up to 17 body lengths per second), mainly achieved by consistent leg coordination and strong phase shifts, were observed during backward locomotion (escape behaviour), while forward walking was characterised by lower speeds and phase shifts around 10% between two loosely coupled leg groups within one tetrapod. That is, during the movement of one tetrapod group, the last and the third leg are almost synchronous in their swing phases, as are the second and the first leg. A special role of the second leg pair was demonstrated, probably mainly for stability reasons and related to the large pedipalps.
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Affiliation(s)
- Johanna Tross
- Institute of Neurobiology, Ulm University, Albert-Einstein-Allee 11, 89081 Ulm, Germany
| | - Harald Wolf
- Institute of Neurobiology, Ulm University, Albert-Einstein-Allee 11, 89081 Ulm, Germany
| | - Torben Stemme
- Institute of Neurobiology, Ulm University, Albert-Einstein-Allee 11, 89081 Ulm, Germany
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Parallel locomotor control strategies in mice and flies. Curr Opin Neurobiol 2022; 73:102516. [DOI: 10.1016/j.conb.2022.01.001] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/10/2021] [Revised: 12/23/2021] [Accepted: 01/06/2022] [Indexed: 12/26/2022]
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Arroyave-Tobon S, Drapin J, Kaniewski A, Linares JM, Moretto P. Kinematic Modeling at the Ant Scale: Propagation of Model Parameter Uncertainties. Front Bioeng Biotechnol 2022; 10:767914. [PMID: 35299633 PMCID: PMC8921731 DOI: 10.3389/fbioe.2022.767914] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/31/2021] [Accepted: 01/20/2022] [Indexed: 11/20/2022] Open
Abstract
Quadrupeds and hexapods are known by their ability to adapt their locomotive patterns to their functions in the environment. Computational modeling of animal movement can help to better understand the emergence of locomotive patterns and their body dynamics. Although considerable progress has been made in this subject in recent years, the strengths and limitations of kinematic simulations at the scale of small moving animals are not well understood. In response to this, this work evaluated the effects of modeling uncertainties on kinematic simulations at small scale. In order to do so, a multibody model of a Messor barbarus ant was developed. The model was built from 3D scans coming from X-ray micro-computed tomography. Joint geometrical parameters were estimated from the articular surfaces of the exoskeleton. Kinematic data of a free walking ant was acquired using high-speed synchronized video cameras. Spatial coordinates of 49 virtual markers were used to run inverse kinematics simulations using the OpenSim software. The sensitivity of the model’s predictions to joint geometrical parameters and marker position uncertainties was evaluated by means of two Monte Carlo simulations. The developed model was four times more sensitive to perturbations on marker position than those of the joint geometrical parameters. These results are of interest for locomotion studies of small quadrupeds, octopods, and other multi-legged animals.
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Affiliation(s)
- Santiago Arroyave-Tobon
- Institut Des Sciences Du Mouvement, Faculté Des Sciences Du Sport, Aix-Marseille Université, CNRS, Marseille, France
- *Correspondence: Santiago Arroyave-Tobon,
| | - Jordan Drapin
- Centre de Recherches sur la Cognition Animale (CRCA), Centre de Biologie Intégrative (CBI), Université de Toulouse, CNRS, UPS, Toulouse, France
| | - Anton Kaniewski
- Institut Des Sciences Du Mouvement, Faculté Des Sciences Du Sport, Aix-Marseille Université, CNRS, Marseille, France
| | - Jean-Marc Linares
- Institut Des Sciences Du Mouvement, Faculté Des Sciences Du Sport, Aix-Marseille Université, CNRS, Marseille, France
| | - Pierre Moretto
- Centre de Recherches sur la Cognition Animale (CRCA), Centre de Biologie Intégrative (CBI), Université de Toulouse, CNRS, UPS, Toulouse, France
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Weihmann T. The Smooth Transition From Many-Legged to Bipedal Locomotion—Gradual Leg Force Reduction and its Impact on Total Ground Reaction Forces, Body Dynamics and Gait Transitions. Front Bioeng Biotechnol 2022; 9:769684. [PMID: 35186911 PMCID: PMC8855104 DOI: 10.3389/fbioe.2021.769684] [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: 09/02/2021] [Accepted: 12/20/2021] [Indexed: 11/29/2022] Open
Abstract
Most terrestrial animals move with a specific number of propulsive legs, which differs between clades. The reasons for these differences are often unknown and rarely queried, despite the underlying mechanisms being indispensable for understanding the evolution of multilegged locomotor systems in the animal kingdom and the development of swiftly moving robots. Moreover, when speeding up, a range of species change their number of propulsive legs. The reasons for this behaviour have proven equally elusive. In animals and robots, the number of propulsive legs also has a decisive impact on the movement dynamics of the centre of mass. Here, I use the leg force interference model to elucidate these issues by introducing gradually declining ground reaction forces in locomotor apparatuses with varying numbers of leg pairs in a first numeric approach dealing with these measures’ impact on locomotion dynamics. The effects caused by the examined changes in ground reaction forces and timing thereof follow a continuum. However, the transition from quadrupedal to a bipedal locomotor system deviates from those between multilegged systems with different numbers of leg pairs. Only in quadrupeds do reduced ground reaction forces beneath one leg pair result in increased reliability of vertical body oscillations and therefore increased energy efficiency and dynamic stability of locomotion.
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