Robotics as a Comparative Method in Ecology and Evolutionary Biology

Form and function of anguilliform swimming

Anguilliform swimmers are long and narrow animals that propel themselves by undulating their bodies. Observations in nature and recent investigations suggest that anguilliform swimming is highly efficient. However, understanding the underlying reasons for the efficiency of this type of locomotion requires interdisciplinary studies spanning from biology to hydrodynamics. Regrettably, these different fields are rarely discussed together, which hinders our ability to understand the repeated evolution of this swimming mode in vertebrates. This review compiles the current knowledge of the anatomical features that drive anguilliform swimming, compares the resulting kinematics across a wide range of anguilliform swimmers, and describes the resulting hydrodynamic interactions using data from both in vivo experiments and computational studies.

Genes, Morphology, Performance, and Fitness: Quantifying Organismal Performance to Understand Adaptive Evolution

To understand the complexities of morphological evolution, we must understand the relationships between genes, morphology, performance, and fitness in complex traits. Genomicists have made tremendous progress in finding the genetic basis of many phenotypes, including a myriad of morphological characters. Similarly, field biologists have greatly advanced our understanding of the relationship between performance and fitness in natural populations. However, the connection from morphology to performance has primarily been studied at the interspecific level, meaning that in most cases we lack a mechanistic understanding of how evolutionarily relevant variation among individuals affects organismal performance. Therefore, functional morphologists need methods that will allow for the analysis of fine-grained intraspecific variation in order to close the path from genes to fitness. We suggest three methodological areas that we believe are well suited for this research program and provide examples of how each can be applied within fish model systems to build our understanding of microevolutionary processes. Specifically, we believe that structural equation modeling, biological robotics, and simultaneous multi-modal functional data acquisition will open up fruitful collaborations among biomechanists, evolutionary biologists, and field biologists. It is only through the combined efforts of all three fields that we will understand the connection between evolution (acting at the level of genes) and natural selection (acting on fitness).

Pleobot: a modular robotic solution for metachronal swimming

Metachronal propulsion is widespread in aquatic swarming organisms to achieve performance and maneuverability at intermediate Reynolds numbers. Studying only live organisms limits our understanding of the mechanisms driving these abilities. Thus, we present the design, manufacture, and validation of the Pleobot-a unique krill-inspired robotic swimming appendage constituting the first platform to study metachronal propulsion comprehensively. We combine a multi-link 3D printed mechanism with active and passive actuation of the joints to generate natural kinematics. Using force and fluid flow measurements in parallel with biological data, we show the link between the flow around the appendage and thrust. Further, we provide the first account of a leading-edge suction effect contributing to lift during the power stroke. The repeatability and modularity of the Pleobot enable the independent manipulation of particular motions and traits to test hypotheses central to understanding the relationship between form and function. Lastly, we outline future directions for the Pleobot, including adapting morphological features. We foresee a broad appeal to a wide array of scientific disciplines, from fundamental studies in ecology, biology, and engineering, to developing new bio-inspired platforms for studying oceans across the solar system.

Diversity and function of the fused anuran radioulna

In tetrapods, fusion between elements of the appendicular skeleton is thought to facilitate rapid movements during running, flying, and jumping. Although such fusion is widespread, frogs stand out because adults of all living species exhibit fusion of the zeugopod elements (radius and ulna, tibia and fibula), regardless of jumping ability or locomotor mode. To better understand what drives the maintenance of limb bone fusion in frogs, we use finite element modeling methods to assess the functional consequences of fusion in the anuran radioulna, the forearm bone of frogs that is important to both locomotion and mating behavior (amplexus). Using CT scans of museum specimens, measurement tools, and mesh‐editing software, we evaluated how different degrees of fusion between the radius and ulna affect the von Mises stress and bending resistance of the radioulna in three loading scenarios: landing, amplexus, and long‐axis loading conditions. We find that the semi‐fused state observed in the radioulna exhibits less von Mises stress and more resistance to bending than unfused or completely fused models in all three scenarios. Our results suggest that radioulna morphology is optimized to minimize von Mises stress across different loading regimes while also minimizing volume. We contextualize our findings in an evaluation of the diversity of anuran radioulnae, which reveals unique, permanent pronation of the radioulna in frogs and substantial variation in wall thickness. This work provides new insight into the functional consequences of limb bone fusion in anuran evolution.

Bioinspired Design in Research: Evolution as Beta-Testing

Modern fishes represent over 400 million years of evolutionary processes that, in many cases, resulted in selection for phenotypes with particular performance advantages. While this certainly occurred without a trajectory for optimization, it cannot be denied that some morphologies allow organisms to be more effective than others at tasks like evading predation, securing food, and ultimately passing on their genes. In this way, evolution generates a series of iterative prototypes with varying but measurable success in accomplishing objectives. Therefore, careful analysis of fundamental properties underlying biological phenomena allow us to fast-track development of bioinspired technologies aiming to accomplish similar objectives. At the same time, bioinspired designs can be a way to explore evolutionary processes, by better understanding the performance space within which a given morphology operates. Through strong interdisciplinary collaborations, we can develop novel bioinspired technologies that not only excel as robotic devices but that teach us something about biology and the rules of life in the process.

Ecomechanics and the Rules of Life: a Critical Conduit Between the Physical and Natural Sciences

Nature provides the parameters, or boundaries, within which organisms must cope in order to survive. Therefore, ecological conditions have an unequivocal influence on the ability of organisms to perform the necessary functions for survival. Biomechanics brings together physics and biology to understand how an organism will function under a suite of conditions. Despite a relatively rich recent history linking physiology and morphology with ecology, less attention has been paid to the linkage between biomechanics and ecology. This linkage, however, could provide key insights into patterns and processes of evolution. Ecomechanics, also known as ecological biomechanics or mechanical ecology, is not necessarily new, but has received far less attention than ecophysiology or ecomorphology. Here, we briefly review the history of ecomechanics, and then identify what we believe are grand challenges for the discipline and how they can inform some of the most pressing questions in science today, such as how organisms will cope with global change.