"On the Fence" versus "All in": Insights from Turtles for the Evolution of Aquatic Locomotor Specializations and Habitat Transitions in Tetrapod Vertebrates

Turtle Girdles: Comparing the Relationships Between Environment and Behavior on Forelimb Function in Loggerhead Sea Turtles (Caretta caretta) and River Cooters (Pseudemys concinna)

Locomotion in water and on land impose dramatically different demands, yet many animals successfully move in both environments. Most turtle species perform both aquatic and terrestrial locomotion but vary in how they use their limbs. Freshwater turtles use anteroposterior movements of the limbs during walking and swimming with contralateral fore- and hindlimbs moving in synchrony. In contrast, sea turtles swim primarily with "powerstroke" movements, characterized by synchronous forelimb motions while the hindlimbs act as rudders. High-speed video has been used to study powerstroking, but pectoral girdle movements and long-axis rotation (LAR) of the humerus are likely both key components to turtle locomotor function and cannot be quantified from external video. Here, we used XROMM to measure pectoral girdle and humeral movements in a sea turtle (loggerhead, Caretta caretta) compared to the freshwater river cooter (Pseudemys concinna) during terrestrial and aquatic locomotion. The largest difference among species was in yaw of the pectoral girdle during swimming, with loggerheads showing almost no yaw during powerstroking whereas pectoral girdle yaw in the cooter during rowing was over 30°. The magnitude of humeral LAR was greatest during loggerhead powerstroking and the temporal pattern of supination and pronation was opposite from that of cooters. We hypothesize that these kinematic differences are driven by differences in how the limbs are used to power propulsion. Rotations at the glenoid drive the overall patterns of movement in freshwater turtles, whereas glenohumeral LAR in loggerheads is used to direct the position and orientation of the elbow, which is the joint that determines the orientation of the thrust-generating structure (the flipper) in loggerheads.

Multi-environment robotic transitions through adaptive morphogenesis

The current proliferation of mobile robots spans ecological monitoring, warehouse management and extreme environment exploration, to an individual consumer's home^1-4. This expanding frontier of applications requires robots to transit multiple environments, a substantial challenge that traditional robot design strategies have not effectively addressed^5,6. For example, biomimetic design-copying an animal's morphology, propulsion mechanism and gait-constitutes one approach, but it loses the benefits of engineered materials and mechanisms that can be exploited to surpass animal performance^7,8. Other approaches add a unique propulsive mechanism for each environment to the same robot body, which can result in energy-inefficient designs^9-11. Overall, predominant robot design strategies favour immutable structures and behaviours, resulting in systems incapable of specializing across environments^12,13. Here, to achieve specialized multi-environment locomotion through terrestrial, aquatic and the in-between transition zones, we implemented 'adaptive morphogenesis', a design strategy in which adaptive robot morphology and behaviours are realized through unified structural and actuation systems. Taking inspiration from terrestrial and aquatic turtles, we built a robot that fuses traditional rigid components and soft materials to radically augment the shape of its limbs and shift its gaits for multi-environment locomotion. The interplay of gait, limb shape and the environmental medium revealed vital parameters that govern the robot's cost of transport. The results attest that adaptive morphogenesis is a powerful method to enhance the efficiency of mobile robots encountering unstructured, changing environments.

Turtling the Salamander: Tail Movements Mitigate Need for Kinematic Limb Changes during Walking in Tiger Salamanders (Ambystoma tigrinum) with Restricted Lateral Movement

Lateral undulation and trunk flexibility offer performance benefits to maneuverability, stability, and stride length (via speed and distance traveled). These benefits make them key characteristics of the locomotion of tetrapods with sprawling posture, with the exception of turtles. Despite their bony carapace preventing lateral undulations, turtles are able to improve their locomotor performance by increasing stride length via greater limb protraction. The goal of this study was to quantify the effect of reduced lateral flexibility in a generalized sprawling tetrapod, the tiger salamander (Ambystoma tigrinum). We had two potential predictions: (1) either salamanders completely compensate by changing their limb kinematics, or (2) their performance (i.e., speed) will suffer due to the reduced lateral flexibility. This reduction was performed by artificially limiting trunk flexibility by attaching a 2-piece shell around the body between the pectoral and pelvic girdles. Adult tiger salamanders (n = 3; SVL = 9–14.5 cm) walked on a 1-m trackway under three different conditions: unrestricted, flexible shell (Tygon tubing), and rigid shell (PVC tubing). Trials were filmed in a single, dorsal view, and kinematics of entire midline and specific body regions (head, trunk, tail), as well as the fore and hind limbs, were calculated. Tygon individuals had significantly higher curvature than both PVC and unrestricted individuals for the body, but this trend was primarily driven by changes in tail movements. PVC individuals had significantly lower curvature in the trunk region compared with unrestricted individuals or Tygon; however, there was no difference between unrestricted and Tygon individuals suggesting the shells performed as expected. PVC and Tygon individuals had significantly higher curvature in the tails compared with unrestricted individuals. There were no significant differences for any limb kinematic variables among treatments including average, minimum, and maximum angles. Thus, salamanders respond to decreased lateral movement in their trunk by increasing movements in their tail, without changes in limb kinematics. These results suggest that tail undulations may be a more critical component to sprawling-postured tetrapod locomotion than previously recognized.

Wading through water: effects of water depth and speed on the drag and kinematics of walking Chilean flamingos, Phoenicopterus chilensis

Wading behaviours, in which an animal walks while partially submerged in water, are present in a variety of taxa including amphibians, reptiles, mammals and birds. Despite the ubiquity of wading behaviours, few data are available to evaluate how animals adjust their locomotion to accommodate changes in water depth. Because drag from water might impose additional locomotor costs, wading animals might be expected to raise their feet above the water up to a certain point until such behaviours lead to awkward steps and are abandoned. To test for such mechanisms, we measured drag on models of the limbs of Chilean flamingos (Phoenicopterus chilensis) and measured their limb and body kinematics as they walked and waded through increasing depths of water in a zoo enclosure. Substantial drag was incurred by models of both open- and closed-toed feet, suggesting that flamingos could avoid some locomotor costs by stepping over water, rather than through it, during wading. Step height was highest while wading through intermediate water depths and while wading at a faster speed. Stride length increased with increasing water depth and velocity, and the limb joints generally flexed more while moving through intermediate water depths. However, movements of the head and neck were not strongly correlated with water depth or velocity. Our results show a wide range of kinematic changes that occur to allow wading birds to walk through different water depths, and have implications for better understanding the locomotor strategies employed by semi-aquatic species.

An early bothremydid from the Arlington Archosaur Site of Texas

Four turtle taxa are previously documented from the Cenomanian Arlington Archosaur Site (AAS) of the Lewisville Formation (Woodbine Group) in Texas. Herein, we describe a new side-necked turtle (Pleurodira), Pleurochayah appalachius gen. et sp. nov., which is a basal member of the Bothremydidae. Pleurochayah appalachius gen. et sp. nov. shares synapomorphic characters with other bothremydids, including shared traits with Kurmademydini and Cearachelyini, but has a unique combination of skull and shell traits. The new taxon is significant because it is the oldest crown pleurodiran turtle from North America and Laurasia, predating bothremynines Algorachelus peregrinus and Paiutemys tibert from Europe and North America respectively. This discovery also documents the oldest evidence of dispersal of crown Pleurodira from Gondwana to Laurasia. Pleurochayah appalachius gen. et sp. nov. is compared to previously described fossil pleurodires, placed in a modified phylogenetic analysis of pelomedusoid turtles, and discussed in the context of pleurodiran distribution in the mid-Cretaceous. Its unique combination of characters demonstrates marine adaptation and dispersal capability among basal bothremydids.

Variable stiffness morphing limb for amphibious legged robots inspired by chelonian environmental adaptations

Robotic vehicles capable of transition from aquatic to terrestrial locomotion face considerable challenges associated with propulsive efficiency and performance in each environment. Here we present a morphing amphibious robotic limb that combines the locomotor adaptations of sea turtles for swimming and tortoises for walking. The limb can transform between the streamlined morphology of a sea turtle flipper and the load-bearing geometry of a tortoise leg using a variable stiffness material coupled to a pneumatic actuator system. Herein, we describe the fabrication and characterization of the morphing limb, and quantitatively show how morphing between hydrodynamic and axial-load bearing states can enhance the locomotive performance of a single design over land and in water.

Humerus osteology, myology, and finite element structure analysis of Cheloniidae

Adaptation of osteology and myology lead to the formation of hydrofoil foreflippers in Cheloniidae (all recent sea turtles except Dermochelys coriacea) which are used mainly for underwater flight. Recent research shows the biomechanical advantages of a complex system of agonistic and antagonistic tension chords that reduce bending stress in bones. Finite element structure analysis (FESA) of a cheloniid humerus is used to provide a better understanding of morphology and microanatomy and to link these with the main flipper function, underwater flight. Dissection of a Caretta caretta gave insights into lines of action, that is, the course that a muscle takes between its origin and insertion, of foreflipper musculature. Lines of action were determined by spanning physical threads on a skeleton of Chelonia mydas. The right humerus of this skeleton was micro-CT scanned. Based on the scans, a finite element (FE) model was built and muscle force vectors were entered. Muscle forces were iteratively approximated until a uniform compressive stress distribution was attained. Two load cases, downstroke and upstroke, were computed. We found that muscle wrappings (m. coracobrachialis magnus and brevis, several extensors, humeral head of m. triceps) are crucial in addition to axial loading to obtain homogenous compressive loading in all bone cross-sections. Detailed knowledge on muscle disposition leads to compressive stress distribution in the FE model which corresponds with the bone microstructure. The FE analysis of the cheloniid humerus shows that bone may be loaded mainly by compression if the bending moments are minimized.

Functional performance of turtle humerus shape across an ecological adaptive landscape

The concept of the adaptive landscape has been invaluable to evolutionary biologists for visualizing the dynamics of selection and adaptation, and is increasingly being used to study morpho-functional data. Here, we construct adaptive landscapes to explore functional trade-offs associated with variation in humerus morphology among turtles adapted to three different locomotor environments: marine, semiaquatic, and terrestrial. Humerus shape from 40 species of cryptodire turtles was quantified using a pseudolandmark approach. Hypothetical shapes were extracted in a grid across morphospace and four functional traits (strength, stride length, mechanical advantage, and hydrodynamics) measured on those shapes. Quantitative trait modeling was used to construct adaptive landscapes that optimize the functional traits for each of the three locomotor ecologies. Our data show that turtles living in different environments have statistically different humeral shapes. The optimum adaptive landscape for each ecology is defined by a different combination of performance trade-offs, with turtle species clustering around their respective adaptive peak. Further, species adhere to pareto fronts between marine-semiaquatic and semiaquatic-terrestrial optima, but not between marine-terrestrial. Our study demonstrates the utility of adaptive landscapes in informing the link between form, function, and ecological adaptation, and establishes a framework for reconstructing turtle ecological evolution using isolated humeri from the fossil record.

Comparative limb bone scaling in turtles: Phylogenetic transitions with changes in functional demands?

Several terrestrial vertebrate clades include lineages that have evolved nearly exclusive use of aquatic habitats. In many cases, such transitions are associated with the evolution of flattened limbs that are used to swim via dorsoventral flapping. Such changes in shape may have been facilitated by changes in limb bone loading in novel aquatic environments. Studies on limb bone loading in turtles found that torsion is high relative to bending loads on land, but reduced compared to bending during aquatic rowing. Release from torsion among rowers could have facilitated the evolution of hydrodynamically advantageous flattened limbs among aquatic species. Because rowing is regarded as an intermediate locomotor stage between walking and flapping, rowing species might show limb bone flattening intermediate between the tubular shapes of walkers and the flattened shapes of flappers. We collected measurements of humeri and femora from specimens representing four functionally divergent turtle clades: sea turtles (marine flappers), softshells (specialized freshwater rowers), emydids (generalist semiaquatic rowers), and tortoises (terrestrial walkers). Patterns of limb bone scaling with size were compared across lineages using phylogenetic comparative methods. Although rowing taxa did not show the intermediate scaling patterns we predicted, our data provide other functional insights. For example, flattening of sea turtle humeri was associated with positive allometry (relative to body mass) for the limb bone diameter perpendicular to the flexion-extension plane of the elbow. Moreover, softshell limb bones exhibit positive allometry of femoral diameters relative to body mass, potentially helping them maintain their typical benthic position in water by providing additional weight to compensate for shell reduction. Tortoise limb bones showed positive allometry of diameters, as well as long humeri, relative to body mass, potentially reflecting specializations for resisting loads associated with digging. Overall, scaling patterns of many turtle lineages appear to correlate with distinctive behaviors or locomotor habits.

Variation in Morphology and Kinematics Underlies Variation in Swimming Stability and Turning Performance in Freshwater Turtles

Among swimming animals, stable body designs often sacrifice performance in turning, and high turning performance may entail costs in stability. However, some rigid-bodied animals appear capable of both high stability and turning performance during swimming by propelling themselves with independently controlled structures that generate mutually opposing forces. Because such species have traditionally been studied in isolation, little is known about how variation within rigid-bodied designs might influence swimming performance. Turtles are a lineage of rigid-bodied animals, in which most species use contralateral limbs and mutually opposing forces to swim. We tested the stability and turning performance of two species of turtles, the pleurodire Emydura subglobosa and the cryptodire Chrysemys picta. Emydura subglobosa exhibited both greater stability and turning performance than C. picta, potentially through the use of subequally-sized (and larger) propulsive structures, faster limb movements, and decreased limb excursions. These data show how, within a given body design, combinations of different traits can serve as mechanisms to improve aspects of performance with competing functional demands.

One foot out the door: limb function during swimming in terrestrial versus aquatic turtles

Specialization for a new habitat often entails a cost to performance in the ancestral habitat. Although aquatic lifestyles are ancestral among extant cryptodiran turtles, multiple lineages, including tortoises (Testudinidae) and emydid box turtles (genus Terrapene), independently specialized for terrestrial habitats. To what extent is swimming function retained in such lineages despite terrestrial specialization? Because tortoises diverged from other turtles over 50 Ma, but box turtles did so only 5 Ma, we hypothesized that swimming kinematics for box turtles would more closely resemble those of aquatic relatives than those of tortoises. To test this prediction, we compared high-speed video of swimming Russian tortoises (Testudo horsfieldii), box turtles (Terrapene carolina) and two semi-aquatic emydid species: sliders (Trachemys scripta) and painted turtles (Chrysemys picta). We identified different kinematic patterns between limbs. In the forelimb, box turtle strokes most resemble those of tortoises; for the hindlimb, box turtles are more similar to semi-aquatic species. Such patterns indicate functional convergence of the forelimb of terrestrial species, whereas the box turtle hindlimb exhibits greater retention of ancestral swimming motions.

Humeral loads during swimming and walking in turtles: implications for morphological change during aquatic reinvasions

During evolutionary reinvasions of water by terrestrial vertebrates, ancestrally tubular limb bones often flatten to form flippers. Differences in skeletal loading between land and water might have facilitated such changes. In turtles, femoral shear strains are significantly lower during swimming than during walking, potentially allowing a release from loads favoring tubular shafts. However, flipper-like morphology in specialized tetrapod swimmers is most accentuated in the forelimbs. To test whether the forelimbs of turtles also experience reduced torsional loading in water, we compared strains on the humerus of river cooters (Pseudemys concinna) between swimming and terrestrial walking. We found that humeral shear strains are also lower during swimming than during terrestrial walking; however, this appears to relate to a reduction in overall strain magnitude, rather than a specific reduction in twisting. These results indicate that shear strains show similar reductions between swimming and walking for forelimb and hindlimb, but these reductions are produced through different mechanisms.

A novel, bounding gait in swimming turtles: implications for aquatic locomotor diversity

Turtles are an iconic lineage in studies of animal locomotion, typifying the use of slow, alternating footfalls during walking. Alternating movements of contralateral limbs are also typical during swimming gaits for most freshwater turtles. Here, we report a novel gait in turtles, in which the pleurodire Emydura subglobosa swims using a bounding gait that coordinates bilateral protraction of both forelimbs with bilateral retraction of both hindlimbs. Use of this bounding gait is correlated with increased limb excursion and decreased stride frequency, but not increased velocity when compared with standard swimming strokes. Bounding by E. subglobosa provides a second example of a non-mammalian lineage that can use bounding gaits, and may give insight into the evolution of aquatic flapping. Parallels in limb muscle fascicle properties between bounding turtles and crocodylids suggest a possible musculoskeletal mechanism underlying the use of bounding gaits in particular lineages.