Foils of flexion: the effects of perch compliance on lizard locomotion and perch choice in the wild

Pump and sway: Wild primates use compliant supports as a tool to augment leaping in the canopy

OBJECTIVES

Despite qualitative observations of wild primates pumping branches before leaping across gaps in the canopy, most studies have suggested that support compliance increases the energetic cost of arboreal leaping, thus limiting leaping performance. In this study, we quantified branch pumping behavior and tree swaying in wild primates to test the hypothesis that these behaviors improve leaping performance.

MATERIALS AND METHODS

We recorded wild colobine monkeys crossing gaps in the canopy and quantitatively tracked the kinematics of both the monkey and the compliant support during behavioral sequences. We also empirically measured the compliance of a sample of locomotor supports in the monkeys' natural habitat, allowing us to quantify the resonant properties of substrates used during leaping.

RESULTS

Analyses of three recordings show that adult red colobus monkeys (Piliocolobus tephrosceles) use branch compliance to their advantage by actively pumping branches before leaping, augmenting their vertical velocity at take-off. Quantitative modeling of branch resonance periods, based on empirical measurements of support compliance, suggests that monkeys specifically employed branch pumping on relatively thin branches with protracted periods of oscillation. Finally, an additional four recordings show that both red colobus and black and white colobus monkeys (Colobus guereza) utilize tree swaying to cross large gaps, augmenting horizontal velocity at take-off.

DISCUSSION

This deliberate branch manipulation to produce a mechanical effect for stronger propulsion is consistent with the framework of instrumental problem-solving. To our knowledge, this is the first study of wild primates which quantitatively shows how compliant branches can be used advantageously to augment locomotor performance.

Device for Measuring Contact Reaction Forces during Animal Adhesion Landing/Takeoff from Leaf-like Compliant Substrates

A precise measurement of animal behavior and reaction forces from their surroundings can help elucidate the fundamental principle of animal locomotion, such as landing and takeoff. Compared with stiff substrates, compliant substrates, like leaves, readily yield to loads, presenting grand challenges in measuring the reaction forces on the substrates involving compliance. To gain insight into the kinematic mechanisms and structural-functional evolution associated with arboreal animal locomotion, this study introduces an innovative device that facilitates the quantification of the reaction forces on compliant substrates, like leaves. By utilizing the stiffness-damping characteristics of servomotors and the adjustable length of a cantilever structure, the substrate compliance of the device can be accurately controlled. The substrate was further connected to a force sensor and an acceleration sensor. With the cooperation of these sensors, the measured interaction force between the animal and the compliant substrate prevented the effects of inertial force coupling. The device was calibrated under preset conditions, and its force measurement accuracy was validated, with the error between the actual measured and theoretical values being no greater than 10%. Force curves were measured, and frictional adhesion coefficients were calculated from comparative experiments on the landing/takeoff of adherent animals (tree frogs and geckos) on this device. Analysis revealed that the adhesion force limits were significantly lower than previously reported values (0.2~0.4 times those estimated in previous research). This apparatus provides mechanical evidence for elucidating structural-functional relationships exhibited by animals during locomotion and can serve as an experimental platform for optimizing the locomotion of bioinspired robots on compliant substrates.

Jumping performance in tree squirrels: Insights into primate evolution

Morphological traits suggesting powerful jumping abilities are characteristic of early crown primate fossils. Because tree squirrels lack certain 'primatelike' grasping features but frequently travel on the narrow terminal branches of trees, they make a viable extant model for an early stage of primate evolution. Here, we explore biomechanical determinants of jumping performance in the arboreal Eastern gray squirrel (Sciurus carolinensis, n = 3) as a greater understanding of the biomechanical strategies that squirrels use to modulate jumping performance could inform theories of selection for increased jumping ability during early primate evolution. We assessed vertical jumping performance by using instrumented force platforms upon which were mounted launching supports of various sizes, allowing us to test the influence of substrate diameter on jumping kinetics and performance. We used standard ergometric methods to quantify jumping parameters (e.g., takeoff velocity, total displacement, peak mechanical power) from force platform data during push-off. We found that tree squirrels display divergent mechanical strategies according to the type of substrate, prioritizing force production on flat ground versus center of mass displacement on narrower poles. As jumping represents a significant part of the locomotor behavior of most primates, we suggest that jumping from small arboreal substrates may have acted as a potential driver of the selection for elongated hindlimb segments in primates, allowing the center of mass to be accelerated over a longer distance-and thereby reducing the need for high substrate reaction forces.

Do Suburban Populations of Lizards Behave Differently from Forest Ones? An Analysis of Perch Height, Time Budget, and Display Rate in the Cuban Endemic Anolis homolechis

Urbanization transforms natural ecosystems into novel habitats, which can result in negative consequences for biodiversity. Therefore, it is important to understand the mechanisms of maintenance of native species in urbanized environments, including behavior—which can act as a fast response to rapid environmental changes. We compared some behavioral traits between two suburban and two forest populations of Anolis homolechis. Direct observations of 779 individuals revealed that perch height was positively influenced by body size, but not by sex. Suburban individuals perched higher than forest ones, and even more so in the afternoon compared to the morning; a behavior that was not observed in forests populations. These differences might be due to a change from foraging activities in the morning to vigilance, display, and/or thermoregulation in the afternoon, promoted by suburban habitat conditions (e.g., higher predator abundance, open habitat structure, and urban heat). Video recordings of 81 focal individuals showed that males were more active than females (i.e., spending less time in stationary behavior and having a higher display rate), with no significant effect of habitat type. As some of our results diverge from previous studies on invasive anoles, we recommend extending comparative studies of urban and non-urban populations to other native Anolis.

The evolution of mechanical properties of conifer and angiosperm woods

The material properties of the cells and tissues of an organism dictate, to a very large degree, the ability of the organism to cope with mechanical stress induced by externally applied forces. It is, therefore, critical to understand how these properties differ across diverse species and how they have evolved. Herein, a large data base (N = 84 species) for the mechanical properties of wood samples measured at biologically natural moisture contents (i.e., "green wood") was analyzed to determine the extent to which these properties are correlated across phylogenetically diverse tree species, to determine if a phylogenetic pattern of trait values exists, and, if so, to assess whether the rate of trait evolution varies across the phylogeny. The phylogenetic comparative analyses presented here confirm previous results that critical material properties are significantly correlated with one another and with wood density. Although the rates of trait evolution of angiosperms and gymnosperms (i.e., conifers) are similar, the material properties of both clades evolved in distinct selective regimes that are phenotypically manifested in lower values across all material properties in gymnosperms. This observation may be related to the structural differences between gymnosperm and angiosperm wood such as the presence of vessels in angiosperms. Explorations of rate heterogeneity indicate high rates of trait evolution in wood density in clades within both conifers and angiosperms (e.g., Pinus and Shorea). Future analyses are warranted using additional data given these preliminary results, especially because there is ample evidence of convergent evolution in the material properties of conifers and angiosperm wood that appear to experience similar ecological conditions.

Robust locomotor performance of squirrel monkeys (Saimiri boliviensis) in response to simulated changes in support diameter and compliance

Arboreal environments require overcoming navigational challenges not typically encountered in other terrestrial habitats. Supports are unevenly distributed and vary in diameter, orientation, and compliance. To better understand the strategies that arboreal animals use to maintain stability in this environment, laboratory researchers must endeavor to mimic those conditions. Here, we evaluate how squirrel monkeys (Saimiri boliviensis) adjust their locomotor mechanics in response to variation in support diameter and compliance. We used high-speed cameras to film two juvenile female monkeys as they walked across poles of varying diameters (5, 2.5, and 1.25 cm). Poles were mounted on either a stiff wooden base ("stable" condition) or foam blocks ("compliant" condition). Six force transducers embedded within the pole trackway recorded substrate reaction forces during locomotion. We predicted that squirrel monkeys would walk more slowly on narrow and compliant supports and adopt more "compliant" gait mechanics, increasing stride lengths, duty factors, and an average number of limbs gripping the support, while the decreasing center of mass height, stride frequencies, and peak forces. We observed few significant adjustments to squirrel monkey locomotor kinematics in response to changes in either support diameter or compliance, and the changes we did observe were often tempered by interactions with locomotor speed. These results differ from a similar study of common marmosets (i.e., Callithrix jacchus, with relatively poor grasping abilities), where variation in diameter and compliance substantially impacted gait kinematics. Squirrel monkeys' strong grasping apparatus, long and mobile tails, and other adaptations for arboreal travel likely facilitate robust locomotor performance despite substrate precarity.

The Effect of Long Term Captivity on Stress Levels in Anolis carolinensis Lizards

The effect of long term captivity is a factor that is important for all research utilizing wild caught animals. Despite the fact that it can be considered to be one of the most fundamental potential sources of stress in captivity, it has received a low amount of interest in recent research on lizards. Given the wide variety in ecology and life history among lizards species, it would make sense to investigate the effect of long term captivity on wild caught lizards on a broader scale. In this study we investigated the effect of long term captivity (four months) on the physiology and behavior of male and female Anolis carolinensis lizards. Our results showed no negative effects of four months of captivity on physiological and behavioral measurements in male A carolinensis lizards. Similar results for females were found for all measurements except body mass and tail width. Here our results indicated a potential negative effect of four months of captivity on body mass and tail width in females.

Effect of Substrates' Compliance on the Jumping Mechanism of Locusta migratoria

Locusts generally live and move in complex environments including different kind of substrates, ranging from compliant leaves to stiff branches. Since the contact force generates deformation of the substrate, a certain amount of energy is dissipated each time when locust jumps from a compliant substrate. In published researches, it is proven that only tree frogs are capable of recovering part of the energy that had been accumulated in the substrate as deformation energy in the initial pushing phase, just before leaving the ground. The jumping performances of adult Locusta migratoria on substrates of three different compliances demonstrate that locusts are able to adapt their jumping mode to the mechanical characteristics of the substrate. Recorded high speed videos illustrate the existence of deformed substrate's recoil before the end of the takeoff phase when locusts jump from compliant substrates, which indicates their ability of recovering part of energy from the substrate deformation. This adaptability is supposed to be related to the catapult mechanism adopted in locusts' jump thanks to their long hind legs and sticky tarsus. These findings improve the understanding of the jumping mechanism of locusts, as well as can be used to develop artifact outperforming current jumping robots in unstructured scenarios.

The (dis)advantages of dominance in a multiple male group of Anolis carolinensis lizards

Male Anolis carolinensis lizards will fight and form social dominance hierarchies when placed in habitats with limited resources. Dominance may procure benefits such as priority access to food, shelter or partners, but may also come with costs, such as a higher risk of injuries due to aggressive interaction, a higher risk of predation or a higher energetic cost, all of which may lead to an increase in stress. While most research looks at dominance by using dyadic interactions, in our study we investigated the effect of dominance in a multiple male group of A. carolinensis lizards. Our results showed that dominant males in a multiple male group had priority access to prey and potential sexual partners but may run a higher risk of predation. We could not confirm that dominant males in a multiple male group had a higher risk of injuries from aggressive interactions or a higher energetic cost by being dominant. Overall our results seem to indicate that dominant male A. carolinensis lizards in a multiple male group obtain clear benefits and that they outweigh the disadvantages.

Asymmetrical gait kinematics of free-ranging callitrichines in response to changes in substrate diameter and orientation

Arboreal environments present considerable biomechanical challenges for animals moving and foraging among substrates varying in diameter, orientation, and compliance. Most studies of quadrupedal gait kinematics in primates and other arboreal mammals have focused on symmetrical walking gaits and the significance of diagonal sequence gaits. Considerably less research has examined asymmetrical gaits, despite their prevalence in small-bodied arboreal taxa. Here we examine whether and how free-ranging callitrichine primates adjust asymmetrical gait kinematics to changes in substrate diameter and orientation, as well as how variation in gait kinematics affects substrate displacement. We used high-speed video to film free-ranging Saguinus tripartitus and Cebuella pygmaea inhabiting the Tiputini Biodiversity Station, Ecuador. We found that Saguinus used bounding and half-bounding gaits on larger substrates versus gallops and symmetrical gaits on smaller substrates, and also shifted several kinematic parameters consistent with attenuating forces transferred from the animal to the substrate. Similarly, Cebuella shifted from high impact bounding gaits on larger substrates to using more half-bounding gaits on smaller substrates; however, kinematic adjustments to substrate diameter were not as profound as in Saguinus. Both species adjusted gait kinematics to changes in substrate orientation; however, gait kinematics did not significantly affect empirical measures of substrate displacement in either species. Due to their small body size, claw-like nails, and reduced grasping capabilities, callitrichines arguably represent extant biomechanical analogues for an early stage in primate evolution. As such, greater attention should be placed on understanding asymmetrical gait dynamics for insight into hypotheses concerning early primate locomotor evolution.

Compliant Substrates Disrupt Elastic Energy Storage in Jumping Tree Frogs

Arboreal frogs navigate complex environments and face diverse mechanical properties within their physical environment. Such frogs may encounter substrates that are damped and absorb energy or are elastic and can store and release energy as the animal pushes off during take-off. When dealing with a compliant substrate, a well-coordinated jump would allow for the recovery of elastic energy stored in the substrate to amplify mechanical power, effectively adding an in-series spring to the hindlimbs. We tested the hypothesis that effective use of compliant substrates requires active changes to muscle activation and limb kinematics to recover energy from the substrate. We designed an actuated force platform, modulated with a real-time feedback controller to vary the stiffness of the substrate. We quantified the kinetics and kinematics of Cuban tree frogs (Osteopilus septentrionalis) jumping off platforms at four different stiffness conditions. In addition, we used electromyography to examine the relationship between muscle activation patterns and substrate compliance during take-off in a knee extensor (m. cruralis) and an ankle extensor (m. plantaris). We find O. septentrionalis do not modulate motor patterns in response to substrate compliance. Although not actively modulated, changes in the rate of limb extension suggest a trade-off between power amplification and energy recovery from the substrate. Our results suggest that compliant substrates disrupt the inertial catch mechanism that allows tree frogs to store elastic energy in the tendon, thereby slowing the rate of limb extension and increasing the duration of take-off. However, the slower rate of limb extension does provide additional time to recover more energy from the substrate. This work serves to broaden our understanding of how the intrinsic mechanical properties of a system may broaden an organism’s capacity to maintain performance when facing environmental perturbations.

Coping with compliance during take-off and landing in the diamond dove (Geopelia cuneata)

The natural world is filled with substrates of varying properties that challenge locomotor abilities. Birds appear to transition smoothly from aerial to terrestrial environments during take-offs and landings using substrates that are incredibly variable. It may be challenging to control movement on and off compliant (flexible) substrates such as twigs, yet birds routinely accomplish such tasks. Previous research suggests that birds do not use their legs to harness elastic recoil from perches. Given avian mastery of take-off and landing, we hypothesized that birds instead modulate wing, body and tail movements to effectively use compliant perches. We measured take-off and landing performance of diamond doves (Geopelia cuneata (N = 5) in the laboratory and perch selection in this species in the field (N = 25). Contrary to our hypothesis, doves do not control take-off and landing on compliant perches as effectively as they do on stiff perches. They do not recover elastic energy from the perch, and take-off velocities are thus negatively impacted. Landing velocities remain unchanged, which suggests they may not anticipate the need to compensate for compliance. Legs and wings function as independent units: legs produce lower initial velocities when taking off from a compliant substrate, which negatively impacts later flight velocities. During landing, significant stability problems arise with compliance that are ameliorated by the wings and tail. Collectively, we suggest that the diamond dove maintains a generalized take-off and landing behavior regardless of perch compliance, leading us to conclude that perch compliance represents a challenge for flying birds. Free-living diamond doves avoid the negative impacts of compliance by preferentially selecting perches of larger diameter, which tend to be stiffer.

What is bred in the bone: Ecomorphological associations of pelvic girdle form in greater Antillean Anolis lizards

Ecological niche partitioning of Anolis lizards of the Greater Antillean islands has been the focus of many comparative studies, and much is known about external morphological convergence that characterizes anole ecomorphs. Their internal anatomy, however, has rarely been explored in an ecomorphological context, and it remains unknown to what degree skeletal morphology tracks the diversity and ecological adaptation of these lizards. Herein, we employ CT scanning techniques to visualise the skeleton of the pelvic girdle in situ, and 3D geometric morphometrics to compare the form of the ilium, ischium, and pubis within and between ecomorphs. We examine 26 species of anoles representing four ecomorphs (trunk-ground, trunk-crown, crown-giant, twig) from three islands (Jamaica, Hispaniola, and Puerto Rico). The subtle variations in pelvic girdle morphology discovered are directly associable with all three parameters that we set out to focus on: phylogenetic relationship, specimen size, and assigned ecomorph category. Morphometric variation that correlates with size and/or phylogenetic signal varies between species and cannot be eliminated from the data set without markedly reducing its overall variability. The discovered patterns of skeletal variation are consistent with the demands of locomotor mechanics pertinent to the structural configuration of the microhabitat of three of the four ecomorphs, with the fourth having no discernible distinctive features. This manifests itself chiefly in the relative anteroposterior extent and anteroventral inclination of the ilium and pubis, which differ between ecomorphs and are postulated to reflect optimization of the direction of muscle vectors of the femoral protractors and retractors. Our investigation of the form of the pelvic girdle of anoles allows us to generalize our findings to entire ecomorph categories within a broad phylogenetic and biogeographic context. Differences in the form and configuration of the postcranial skeleton are directly related to ecological patterns.

Phenotypic disparity in Iberian short-horned grasshoppers (Acrididae): the role of ecology and phylogeny

BACKGROUND

The combination of model-based comparative techniques, disparity analyses and ecomorphological correlations constitutes a powerful method to gain insight into the evolutionary mechanisms that shape morphological variation and speciation processes. In this study, we used a time-calibrated phylogeny of 70 Iberian species of short-horned grasshoppers (Acrididae) to test for patterns of morphological disparity in relation to their ecology and phylogenetic history. Specifically, we examined the role of substrate type and level of ecological specialization in driving different aspects of morphological evolution (locomotory traits, chemosensitive organs and cranial morphology) in this recent radiation.

RESULTS

We found a bimodal distribution of locomotory attributes corresponding to the two main substrate type guilds (plant vs. ground); plant-perching species tend to exhibit larger wings and thicker femora than those that remain on the ground. This suggests that life form (i.e., substrate type) is an important driving force in the evolution of morphological traits in short-horned grasshoppers, irrespective of ancestry. Substrate type and ecological specialization had no significant influence on head shape, a trait that showed a strong phylogenetic conservatism. Finally, we also found a marginal significant association between the length of antennae and the level of ecological specialization, suggesting that the development of sensory organs may be favored in specialist species.

CONCLUSIONS

Our results provide evidence that even in taxonomic groups showing limited morphological and ecological disparity, natural selection seems to play a more important role than genetic drift in driving the speciation process. Overall, this study suggests that morphostatic radiations should not necessarily be considered as "non-adaptive" and that the speciation process can bind both adaptive divergence mechanisms and neutral speciation processes related with allopatric and/or reproductive isolation.

Robust jumping performance and elastic energy recovery from compliant perches in tree frogs

Arboreal animals often move on compliant branches, which may deform substantially under loads, absorbing energy. Energy stored in a compliant substrate may be returned to the animal or it may be lost. In all cases studied so far, animals jumping from a static start lose all of the energy imparted to compliant substrates and performance is reduced. Cuban tree frogs (Osteopilus septentrionalis) are particularly capable arboreal jumpers, and we hypothesized that these animals would be able to recover energy from perches of varying compliance. In spite of large deflections of the perches and consequent substantial energy absorption, frogs were able to regain some of the energy lost to the perch during the recoil. Takeoff velocity was robust to changes in compliance, but was lower than when jumping from flat surfaces. This highlights the ability of animals to minimize energy loss and maintain dependable performance on challenging substrates via behavioral changes.

Effects of support diameter and compliance on common marmoset (Callithrix jacchus) gait kinematics

Locomotion is precarious in an arboreal habitat, where supports can vary in both diameter and level of compliance. Several previous studies have evaluated the influence of substrate diameter on the locomotor performance of arboreal quadrupeds. The influence of substrate compliance, however, has been mostly unexamined. Here, we used a multifactorial experimental design to investigate how perturbations in both diameter and compliance affect the gait kinematics of marmosets (Callithrix jacchus; N=2) moving over simulated arboreal substrates. We used 3D-calibrated video to quantify marmoset locomotion over a horizontal trackway consisting of variably sized poles (5, 2.5 and 1.25 cm in diameter), analyzing a total of 120 strides. The central portion of the trackway was either immobile or mounted on compliant foam blocks, depending on condition. We found that narrowing diameter and increasing compliance were both associated with relatively longer substrate contact durations, though adjustments to diameter were often inconsistent relative to compliance-related adjustments. Marmosets also responded to narrowing diameter by reducing speed, flattening center of mass (CoM) movements and dampening support displacement on the compliant substrate. For the subset of strides on the compliant support, we found that speed, contact duration and CoM amplitude explained >60% of the variation in substrate displacement over a stride, suggesting a direct performance advantage to these kinematic adjustments. Overall, our results show that compliant substrates can exert a significant influence on gait kinematics. Substrate compliance, and not just support diameter, should be considered a critical environmental variable when evaluating locomotor performance in arboreal quadrupeds.