Recent Progress in the Physical Principles of Dynamic Ground Self-Righting

Animals and robots must self-right on the ground after overturning. Biology research has described various strategies and motor patterns in many species. Robotics research has devised many strategies. However, we do not well understand the physical principles of how the need to generate mechanical energy to overcome the potential energy barrier governs behavioral strategies and 3D body rotations given the morphology. Here, I review progress on this which I led studying cockroaches self-righting on level, flat, solid, low-friction ground, by integrating biology experiments, robotic modeling, and physics modeling. Animal experiments using three species (Madagascar hissing, American, and discoid cockroaches) found that ground self-righting is strenuous and often requires multiple attempts to succeed. Two species (American and discoid cockroaches) often self-right dynamically, using kinetic energy to overcome the barrier. All three species use and often stochastically transition across diverse strategies. In these strategies, propelling motions are often accompanied by perturbing motions. All three species often display complex yet stereotyped body rotation. They all roll more in successful attempts than in failed ones, which lowers the barrier, as revealed by a simplistic 3D potential energy landscape of a rigid body self-righting. Experiments of an initial robot self-righting via rotation about a fixed axis revealed that the longer and faster appendages push, the more mechanical energy can be gained to overcome the barrier. However, the cockroaches rarely achieve this. To further understand the physical principles of strenuous ground self-righting, we focused on the discoid cockroach's leg-assisted winged self-righting. In this strategy, wings propel against the ground to pitch the body up but are unable to overcome the highest pitch barrier. Meanwhile, legs flail in the air to perturb the body sideways to self-right via rolling. Experiments using a refined robot and an evolving 3D potential energy landscape revealed that, although wing propelling cannot generate sufficient kinetic energy to overcome the highest pitch barrier, it reduces the barrier to allow small kinetic energy from the perturbing legs to probabilistically overcome the barrier to self-right via rolling. Thus, only by combining propelling and perturbing can self-righting be achieved when it is so strenuous; this physical constraint leads to the stereotyped body rotation. Finally, multi-body dynamics simulation and template modeling revealed that the animal's substantial randomness in wing and leg motions helps it, by chance, to find good coordination, which accumulates more mechanical energy to overcome the barrier, thus increasing the likelihood of self-righting.

Ecological and Fitness Correlates of Personality in a Long-lived Terrestrial Turtle

An individual's behavioral tendencies (i.e., personality or temperament) can influence its interactions with the environment and thus have important ecological and evolutionary consequences for animal populations. Boldness, defined as an individual's tendency to engage in risk-taking activities, is a phenotypically variable trait linked with numerous behavioral and fitness outcomes in free-ranging animals. We examined variation and repeatability of boldness and other behavioral characteristics in two wild Eastern Box Turtle (Terrapene carolina carolina) populations using radiotelemetry, and assessed fitness correlates of boldness over multiple years. We observed large amounts of among-individual variation and within-individual consistency (i.e., repeatability) of boldness as measured by their head emergence latency following a standardized confinement assay. Individuals were also consistent in several in-field behaviors including movement rate, home range size, and date of emergence from overwintering refuges. Individuals with shorter head emergence latencies (i.e., bolder turtles) had larger home ranges, emerged earlier from overwintering dormancy, and experienced moderately lower survival compared with shy individuals. Boldness did not affect time spent within the thermal preference range, somatic growth rates, or the frequency of mating or same-sex aggressive encounters. Boldness and its effects on in-field behaviors differed between sexes and populations, and the relationship between boldness and survival was temporally variable. Our results suggest possible intrinsic behavioral types in T. c. carolina and highlight the importance of long-term and multipopulation studies when examining ecological and evolutionary processes that shape personality phenotypes in turtles.

Armed stem to stinger: a review of the ecological roles of scorpion weapons

Scorpions possess two systems of weapons: the pincers (chelae) and the stinger (telson). These are placed on anatomically and developmentally well separated parts of the body, that is, the oral appendages and at the end of the body axis. The otherwise conserved body plan of scorpions varies most in the shape and relative dimensions of these two weapon systems, both across species and in some cases between the sexes. We review the literature on the ecological function of these two weapon systems in each of three contexts of usage: (i) predation, (ii) defense and (iii) sexual contests. In the latter context, we will also discuss their usage in mating. We first provide a comparative background for each of these contexts of usage by giving examples of other weapon systems from across the animal kingdom. Then, we discuss the pertinent aspects of the anatomy of the weapon systems, particularly those aspects relevant to their functioning in their ecological roles. The literature on the functioning and ecological role of both the chelae and the telson is discussed in detail, again organized by context of usage. Particular emphasis is given on the differences in morphology or usage between species or higher taxonomic groups, or between genders, as such cases are most insightful to understand the roles of each of the two distinct weapon systems of the scorpions and their evolutionary interactions. We aimed to synthesize the literature while minimizing conjecture, but also to point out gaps in the literature and potential future research opportunities.

Turning turtle: scaling relationships and self-righting ability in Chelydra serpentina

Testudines are susceptible to inversion and self-righting using their necks, limbs or both, to generate enough mechanical force to flip over. We investigated how shell morphology, neck length and self-righting biomechanics scale with body mass during ontogeny in Chelydra serpentina, which uses neck-powered self-righting. We found that younger turtles flipped over twice as fast as older individuals. A simple geometric model predicted the relationships of shell shape and self-righting time with body mass. Conversely, neck force, power output and kinetic energy increase with body mass at rates greater than predicted. These findings were correlated with relatively longer necks in younger turtles than would be predicted by geometric similarity. Therefore, younger turtles self-right with lower biomechanical costs than predicted by simple scaling theory. Considering younger turtles are more prone to inverting and their shells offer less protection, faster and less costly self-righting would be advantageous in overcoming the detriments of inversion.

Cockroaches use diverse strategies to self-right on the ground

Terrestrial animals often must self-right from an upside-down orientation on the ground to survive. Here, we compared self-righting strategies of the Madagascar hissing, American and discoid cockroaches on a challenging flat, rigid, low-friction surface to quantify the mechanical principles. All three species almost always self-righted (97% probability) when given time (30 s), frequently self-righted (63%) on the first attempt, and on that attempt did so in 1 s or less. When successful, two of the three species gained and used pitch and/or roll rotational kinetic energy to overcome potential energy barriers (American 63% of all attempts and discoid 78%). By contrast, the largest, heaviest, wingless cockroach (Madagascar hissing) relied far less on the energy of motion and was the slowest to self-right. Two of the three species used rolling strategies to overcome low potential energy barriers. Successful righting attempts had greater rolling rotation than failed attempts as the center of mass rose to the highest position. Madagascar hissing cockroaches rolled using body deformation (98% of all trials) and the American cockroach rolled using leg forces (93%). By contrast, the discoid cockroach overcame higher and a wider range of potential energy barriers with simultaneous pitching and rolling using the wings (46% of all trials) and legs (49%) equally to self-right. Our quantification revealed the performance advantages of using rotational kinetic energy to overcome the potential energy barrier and rolling more to lower it, while maintaining diverse strategies for ground-based self-righting.

Intrasexually selected weapons

We propose a practical concept that distinguishes the particular kind of weaponry that has evolved to be used in combat between individuals of the same species and sex, which we term intrasexually selected weapons (ISWs). We present a treatise of ISWs in nature, aiming to understand their distinction and evolution from other secondary sex traits, including from 'sexually selected weapons', and from sexually dimorphic and monomorphic weaponry. We focus on the subset of secondary sex traits that are the result of same-sex combat, defined here as ISWs, provide not previously reported evolutionary patterns, and offer hypotheses to answer questions such as: why have only some species evolved weapons to fight for the opposite sex or breeding resources? We examined traits that seem to have evolved as ISWs in the entire animal phylogeny, restricting the classification of ISW to traits that are only present or enlarged in adults of one of the sexes, and are used as weapons during intrasexual fights. Because of the absence of behavioural data and, in many cases, lack of sexually discriminated series from juveniles to adults, we exclude the fossil record from this review. We merge morphological, ontogenetic, and behavioural information, and for the first time thoroughly review the tree of life to identify separate evolution of ISWs. We found that ISWs are only found in bilateral animals, appearing independently in nematodes, various groups of arthropods, and vertebrates. Our review sets a reference point to explore other taxa that we identify with potential ISWs for which behavioural or morphological studies are warranted. We establish that most ISWs come in pairs, are located in or near the head, are endo- or exoskeletal modifications, are overdeveloped structures compared with those found in females, are modified feeding structures and/or locomotor appendages, are most common in terrestrial taxa, are frequently used to guard females, territories, or both, and are also used in signalling displays to deter rivals and/or attract females. We also found that most taxa lack ISWs, that females of only a few species possess better-developed weapons than males, that the cases of independent evolution of ISWs are not evenly distributed across the phylogeny, and that animals possessing the most developed ISWs have non-hunting habits (e.g. herbivores) or are faunivores that prey on very small prey relative to their body size (e.g. insectivores). Bringing together perspectives from studies on a variety of taxa, we conceptualize that there are five ways in which a sexually dimorphic trait, apart from the primary sex traits, can be fixed: sexual selection, fecundity selection, parental role division, differential niche occupation between the sexes, and interference competition. We discuss these trends and the factors involved in the evolution of intrasexually selected weaponry in nature.

Biomechanical factors influencing successful self-righting in the pleurodire turtle, Emydura subglobosa

Self-righting performance is a key ability for most terrestrial animals, and has been used as a metric of fitness, exhaustion, and thermal limits in a variety of taxa. However, there is little understanding of the underlying mechanisms that drive variation in self-righting performance. To evaluate the mechanical factors that contribute to success versus failure when animals attempt to self-right, we compared force production and kinematic behavior in the rigid-bodied, pleurodire turtle Emydura subglobosa between successful and unsuccessful self-righting efforts. We found that the moment exerted during efforts to roll the body and the velocity of that roll are the primary drivers behind self-righting success. Specifically, turtles that self-righted successfully produced both larger moments and faster rolls than turtles that failed. In contrast, the angle at which the head was directed to lever the body and the extent of yaw that was incorporated in addition to roll had little impact on the likelihood of success. These results show that specific performance metrics can predict the ability of animals to self-right, providing a framework for biomimetic applications as well future comparisons to test for differences in self-righting performance across animals from different environments, sexes, populations, and species.

Self-righting potential and the evolution of shell shape in Galápagos tortoises

Self-righting, the capacity of an animal to self-turn after falling on its back, is a fitness-related trait. Delayed self-righting can result in loss of mating opportunities or death. Traits involved in self-righting may therefore be under selection. Galápagos giant tortoises have two main shell morphologies - saddleback and domed – that have been proposed to be adaptive. The more sloped shape on the sides of the shell and the longer extension of neck and legs of the saddlebacks could have evolved to optimize self-righting. The drier environments with more uneven surfaces where the saddleback tortoises occur increases their risk to fall on their back while walking. The ability to fast overturn could reduce the danger of dying. To test this hypothesis, we used 3D shell reconstructions of 89 Galápagos giant tortoises from three domed and two saddleback species to compare self-righting potential of the two shell morphotypes. Our results indicate that saddleback shells require higher energy input to self-right than domed ones. This suggests that several traits associated with the saddleback shell morphology could have evolved to facilitate self-righting. Studying the functional performances of fitness-related traits, as in this work, could provide important insight into the adaptive value of traits.

Sexual dimorphism and geographic variation in the morphology of a small southern African tortoise Psammobates oculifer

We studied morphological traits ofPsammobates oculiferover its range to evaluate patterns in sexual size dimorphism (SSD) and geographic variation. Females were larger than males for 40 of the 44 characters measured and the growth trajectories of female parameters, scaled to body size (ANCOVA and MANCOVA on carapace length), most often followed juvenile patterns. For males, either the slopes or elevations of morphometric parameters were lower than in females. These divergent growth trajectories resulted in shape differences with female shells being higher and wider than the shells of males. Males matured at a smaller age and size, and had wider hind feet and larger shell openings relative to females; the latter being due to a shorter and narrower plastron, a shorter bridge length, and a bigger anal gap and cranial space. These male characteristics possibly enhance mobility for mate searching and combat, as well as courtship and mating behaviour. Small sample sizes for females in two of the three regions restricted geographic evaluations to males, for which shell shape, front foot width and hind leg length of the eastern group differed from the others. We interpreted these variations as the consequence of differences in the substratum and vegetation openness over the range of the species.

Is sexual body shape dimorphism consistent in aquatic and terrestrial chelonians?

Comparisons between aquatic and terrestrial species provide an opportunity to examine how sex-specific adaptations interact with the environment to influence body shape. In terrestrial female tortoises, selection for fecundity favors the development of a large internal abdominal cavity to accommodate the clutch; in conspecific males, sexual selection favors mobility with large openings in the shell. To examine to what extent such trends apply in aquatic chelonians we compared the body shape of males and females of two aquatic turtles (Chelodina colliei and Mauremys leprosa). In both species, females were larger than males. When controlled for body size, females exhibited a greater relative internal volume and a higher body condition index than males; both traits potentially correlate positively with fecundity. Males were more streamlined (hydrodynamic), and exhibited larger openings in the shell providing more space to move their longer limbs; such traits probably improve mobility and copulation ability (the males chase and grab the female for copulation). Overall, although the specific constraints imposed by terrestrial and aquatic locomotion shape the morphology of chelonians differently (aquatic turtles were flatter, hence more hydrodynamic than terrestrial tortoises), the direction for sexual shape dimorphism remained unaffected. Our main conclusion is that the direction of sexual shape dimorphism is probably more consistent than sexual size dimorphism in the animal kingdom.

Geometry and self-righting of turtles

Terrestrial animals with rigid shells face imminent danger when turned upside down. A rich variety of righting strategies of beetle and turtle species have been described, but the exact role of the shell's geometry in righting is so far unknown. These strategies are often based on active mechanisms, e.g. most beetles self-right via motion of their legs or wings; flat, aquatic turtles use their muscular neck to flip back. On the other hand, highly domed, terrestrial turtles with short limbs and necks have virtually no active control: here shape itself may serve as a fundamental tool. Based on field data gathered on a broad spectrum of aquatic and terrestrial turtle species we develop a geometric model of the shell. Inspired by recent mathematical results, we demonstrate that a simple mechanical classification of the model is closely linked to the animals' righting strategy. Specifically, we show that the exact geometry of highly domed terrestrial species is close to optimal for self-righting, and the shell's shape is the predominant factor of their ability to flip back. Our study illustrates how evolution solved a far-from-trivial geometrical problem and equipped some turtles with monostatic shells: beautiful forms, which rarely appear in nature otherwise.