Geckos cling best to, and prefer to use, rough surfaces

Peking geckos (Gekko swinhonis) traversing upward steps: the effect of step height on the transition from horizontal to vertical locomotion

The ability to transition between surfaces (e.g., from the ground to vertical barriers, such as walls, tree trunks, or rock surfaces) is important for the Peking gecko's (Gekko swinhonis Günther 1864) survival. However, quantitative research on gecko's kinematic performance and the effect of obstacle height during transitional locomotion remains scarce. In this study, the transitional locomotion of geckos facing different obstacle heights was assessed. Remarkably, geckos demonstrated a bimodal locomotion ability, as they could climb and jump. Climbing was more common on smaller obstacles and took longer than jumping. The jumping type depended on the obstacle height: when geckos could jump onto the obstacle, the vertical velocity increased with obstacle height; however, geckos jumped from a closer position when the obstacle height exceeded this range and would get attached to the vertical surface. A stability analysis of vertical surface landing using a collision model revealed that geckos can reduce their restraint impulse by increasing the landing angle through limb extension close to the body, consequently dissipating collision energy and reducing their horizontal and vertical velocities. The findings of this study reveal the adaptations evolved by geckos to move in their environments and may have applicability in the robotics field.

Variation in density, but not morphology, of cutaneous sensilla among body regions in nine species of Australian geckos

Skin sense organs, i.e., cutaneous sensilla, are a well-known feature of the integument of squamate reptiles, and particularly geckos. They vary widely in morphology among species, and are thought to be mechanosensitive, associated with prey capture and handling, tail autotomy, and placement of the adhesive toepads in pad-bearing species. Some authors suggest that they may also sense abiotic environmental features, such as temperature, or humidity. Here, we describe the morphology and distribution of cutaneous sensilla among body regions of nine Australian gecko species, in four genera. We hypothesised that if sensilla morphology was distinct, or sensilla density high, around the mouth, on the tail, and on extremities, sensilla were likely used for these direct tactile functions. We found that sensilla morphology was uniform among body regions within species, but varied among species, while sensilla densities varied among species and body regions. In gecko species studied, sensilla density was highest on the labials and the dorsal tail scales, and low on the feet, head and body, providing strong support for the hypothesis that sensilla serve tactile mechanoreceptive functions for prey capture and handling and for predator avoidance, but not for toepad placement. We suggest sensilla density may be explained by mechanoreception, whereas structure may be influenced by other factors.

An insect-scale robot reveals the effects of different body dynamics regimes during open-loop running in feature-laden terrain

The transition from the lab to natural environments is an archetypal challenge in robotics. While larger robots can manage complex limb-ground interactions using sensing and control, such strategies are difficult to implement on small platforms where space and power are limited. The Harvard Ambulatory Microrobot (HAMR) is an insect-scale quadruped capable of effective open-loop running on featureless, hard substrates. Inspired by the predominantly feedforward strategy of rapidly-running cockroaches on uneven terrain (Sponberg, 2007), we used HAMR to explore open-loop running on two 3D printed heterogeneous terrains generated using fractional Brownian motion. The 'pocked' terrain had foot-scale features throughout while the 'jagged' terrain features increased in height in the direction of travel. We measured the performance of trot and pronk gaits while varying limb amplitude and stride frequency. The frequencies tested encompassed different dynamics regimes: body resonance (10-25 Hz) and kinematic running (30-40 Hz), with dynamics typical of biological running and walking, respectively, and limb-transmission resonance (45-60 Hz). On the featureless and pocked terrains, low mechanical cost-of-transport (mCoT) kinematic running combinations performed best without systematic differences between trot and pronk; indicating that if terrain features are not too tall, a robot can transition from homo-to heterogeneous environments in open-loop. Pronk bypassed taller features than trot on the jagged terrain, and higher mCoT, lower frequency running was more often effective. While increasing input power to the robot improved performance in general, lower frequency pronking on jagged terrain allowed the robot to bypass taller features compared with the same input power at higher frequencies. This was correlated with the increased variation in center-of-mass orientation occurring at frequencies near body resonance. This study established that appropriate choice of robot dynamics, as mediated by gait, frequency, and limb amplitude, can expand the terrains accessible to microrobots without the addition of sensing or closed-loop control.

Specialist versus Generalist at the Intraspecific Level: Functional Morphology and Substrate Preference of Mediodactylus kotschyi Geckos

Populations of the same species occupying different microhabitats can either exhibit generalized traits across them or display intraspecific variability, adapting to each microhabitat in order to maximize performance. Intraspecific variability contributes to the generation of diversity, following selection and adaptation, and understanding such variability is important for comprehending how individuals choose their microhabitats. Compared with interspecific variability, however, intraspecific variability in functional morphology and its relationship with microhabitat preference and use have been relatively little studied. Here we examined whether populations of the gecko Mediodactylus kotschyi that differ in the substrates they occupy display habitat-specific behaviors and differing morphologies associated with functional adaptation to their microhabitats. We collected 207 geckos from under or on rocks or on trees from seven populations in Greece. On large islands individuals occupy both substrates; whereas small islets are devoid of trees and the geckos are restricted to rocks, while on the mainland they are only found on trees. We determined gecko substrate preferences in the laboratory, together with their clinging abilities to the different substrates. We measured their limbs, digits, and claws and assessed how these measurements relate to clinging ability. Geckos from all populations preferred the tree made available to them, but this preference was not statistically significant. Geckos from both large and small islands clung better to the tree than to the rock in the laboratory, while those from the mainland clung similarly to both substrates. Geckos collected from trees had longer manual digits and hind limbs. Geckos collected from large and small islands had taller (longer on the dorso-ventral axis; henceforth "deeper") claws. Longer digits and deeper but shorter claws were associated with a better ability to cling to rocks. Our findings suggest that while M. kotschyi is potentially preferentially arboreal, due to the great variation and plasticity it possesses, it can successfully also exploit the habitats available on the smallest, treeless islets in the Aegean Sea. Our study suggests that the dichotomous use of generalist versus specialist in describing species' habitat use is oversimplified, and we suggest the use of a generalist-specialist gradient instead.

Tokay geckos (Gekkonidae: Gekko gecko) preferentially use substrates that elicit maximal adhesive performance

Gecko substrate use is likely influenced by adhesive performance, yet few studies have demonstrated this empirically. Herein, we examined the substrate use, adhesive performance and vertical clinging behaviour of Gekko gecko in captivity to investigate whether adhesive performance influences patterns of substrate use. We found that geckos were observed significantly more often on the substrate (glass) that elicited maximal adhesive performance relative to its availability within our experimental enclosures, indicating that geckos preferentially use substrates on which their adhesive performance is maximal. Our work here provides additional, yet crucial data establishing connections between adhesive performance and patterns of substrate use in captivity, suggesting the hypothesis that substrate preferences of free-ranging geckos should be correlated with adhesive performance. Clearly, further experimental and field research is necessary to test this hypothesis and identify other parameters that individually and/or collectively influence the habitat use of free-ranging geckos.