Becoming airborne without legs: the kinematics of take-off in a flying snake, Chrysopelea paradisi

Functional diversity of snake locomotor behaviors: A review of the biological literature for bioinspiration

Organismal solutions to natural challenges can spark creative engineering applications. However, most engineers are not experts in organismal biology, creating a potential barrier to maximally effective bioinspired design. In this review, we aim to reduce that barrier with respect to a group of organisms that hold particular promise for a variety of applications: snakes. Representing >10% of tetrapod vertebrates, snakes inhabit nearly every imaginable terrestrial environment, moving with ease under many conditions that would thwart other animals. To do so, they employ over a dozen different types of locomotion (perhaps well over). Lacking limbs, they have evolved axial musculoskeletal features that enable their vast functional diversity, which can vary across species. Different species also have various skin features that provide numerous functional benefits, including frictional anisotropy or isotropy (as their locomotor habits demand), waterproofing, dirt shedding, antimicrobial properties, structural colors, and wear resistance. Snakes clearly have much to offer to the fields of robotics and materials science. We aim for this review to increase knowledge of snake functional diversity by facilitating access to the relevant literature.

Dynamic gap crossing in Dendrelaphis, the sister taxon of flying snakes

Arboreal animals commonly use dynamic gap-crossing behaviors such as jumping. In snakes, however, most species studied to date only employ the quasi-static cantilever crawl, which involves a whole-body reach. One exception is the paradise tree snake (Chrysopelea paradisi), which exhibits kinematic changes as gap distance increases, culminating in dynamic behaviors that are kinematically indistinguishable from those used to launch glides. Because Chrysopelea uses dynamic behaviors when bridging gaps without gliding, we hypothesized that such dynamic behaviors evolved ancestrally to Chrysopelea. To test this predicted occurrence of dynamic behaviors in closely related taxa, we studied gap bridging locomotion in the genus Dendrelaphis, which is the sister lineage of Chysopelea. We recorded 20 snakes from two species (D. punctulatus and D. calligastra) crossing gaps of increasing size, and analyzed their 3D kinematics. We found that, like C. paradisi, both species of Dendrelaphis modulate their use of dynamic behaviors in response to gap distance, but Dendrelaphis exhibit greater inter-individual variation. Although all three species displayed the use of looped movements, the highly stereotyped J-loop movement of Chrysopelea was not observed in Dendrelaphis. These results support the hypothesis that Chrysopelea may have co-opted and refined an ancestral behavior for crossing gaps for the novel function of launching a glide. Overall, these data demonstrate the importance of gap distance in governing behavior and kinematics during arboreal gap crossing.

Singapore's herpetofauna: updated and annotated checklist, history, conservation, and distribution

Given Singapore's location at the confluence of important maritime trading routes, and that it was established as a British East India Company trading post in 1819, it is unsurprising that Singapore has become one of the centres of natural history collecting and research in Southeast Asia. Despite its small size, Singapore is home to a diverse herpetofauna assemblage and boasts a rich herpetological history. The first systematic studies of Singapore's herpetofauna (within the Linnaean binomial framework) date back to Stamford Raffles and the naturalists hired by him who first came to the island in 1819. Specimens that were collected during and after this time were deposited in museums worldwide. Over time, 39 species from Singapore were described as new to science. Due to the entrepôt nature of Singapore with its associated purchasing and trading of specimens (both alive and dead), poor record-keeping, and human introductions, numerous extraneous species from outside of Singapore were reported to occur on the island. Such issues have left a complicated legacy of ambiguous records and taxonomic complications concerning the identity of Singapore's species-rich herpetofauna, many of which were only resolved in the past 30-40 years. By compiling a comprehensive collection of records and publications relating to the herpetofauna of Singapore, we construct an updated and more accurate listing of the herpetofauna of Singapore. Our investigation culminated in the evaluation of 309 species, in which we compiled a final species checklist recognising 166 species (149 native and 17 non-native established species). Among the 149 native species are two caecilians, 24 frogs, one crocodilian, 13 turtles (three visitors), 34 lizards, and 75 snakes. Of the 17 non-native species are five frogs, four turtles, six lizards, and two snakes. The remaining 143 species represent species to be excluded from Singapore's herpetofauna species checklist. For each of the 309 species examined, we provide species accounts and explanatory annotations. Furthermore, we discuss Singapore's herpetofauna from a historical and conservation perspective. Immediate deforestation and nationwide urbanisation following colonisation completely eliminated many species from throughout much of the country and restricted them to small, degraded forest patches. We hope this publication highlights the importance of publishing observations and serves as a valuable resource to future researchers, naturalists, biological consultants, and policy makers in initiating studies on species ecology, distribution, status, and promoting conservation efforts to safeguard Singapore's herpetofauna.

Material properties of skin in the flying snake Chrysopelea ornata

In snakes, the skin serves for protection, camouflage, visual signaling, locomotion, and its ability to stretch facilitates large prey ingestion. The flying snakes of the genus Chrysopelea are capable of jumping and gliding through the air, requiring additional functional demands: its skin must accommodate stretch in multiple directions during gliding and, perhaps more importantly, during high-speed, direct-impact landing. Is the skin of flying snakes specialized for gliding? Here, we characterized the material properties of the skin of Chrysopelea ornata and compared them with two nongliding species of colubrid snakes, Thamnophis sirtalis and Pantherophis guttatus, as well as with previously published values. The skin was examined using uniaxial tensile testing to measure stresses, and digital image correlation methods to determine strains, yielding metrics of strength, elastic modulus, strain energy, and extensibility. To test for loading orientation effects, specimens were tested from three orientations relative to the snake's long axis: lateral, circumferential, and ventral. Specimens were taken from two regions of the body, pre- and pos-tpyloric, to test for regional effects related to the ingestion of large prey. In comparison with T. sirtalis and P. guttatus, C. ornata exhibited higher post-pyloric and lower pre-pyloric extensibility in circumferential specimens. However, overall there were few differences in skin material properties of C. ornata compared to other species, both within and across studies, suggesting that the skin of flying snakes is not specialized for gliding locomotion. Surprisingly, circumferential specimens demonstrated lower strength and extensibility in pre-pyloric skin, suggesting less regional specialization related to large prey.

Dynamic movements facilitate extreme gap crossing in flying snakes

In arboreal habitats, direct routes between two locations can be impeded by gaps in the vegetation. Arboreal animals typically use dynamic movements, such as jumping, to navigate these gaps if the distance between supports exceeds their reaching ability. In contrast, most snakes only use the cantilever crawl to cross gaps. This behavior imposes large torques on the animal, inhibiting their gap-crossing capabilities. Flying snakes (Chrysopelea), however, are known to use dynamic behaviors in a different arboreal context: they use a high-acceleration jump to initiate glides. We hypothesized that flying snakes also use jumping take-off behaviors to cross gaps, allowing them to cross larger distances. To test this hypothesis, we used a six-camera motion-capture system to investigate the effect of gap size on crossing behavior in Chrysopelea paradisi, and analyzed the associated kinematics and torque requirements. We found that C. paradisi typically uses cantilevering for small gaps (<47.5% snout-vent length, SVL). Above this distance, C. paradisi were more likely to use dynamic movements than cantilevers, either arching upward or employing a below-branch loop of the body. These dynamic movements extended the range of horizontal crossing to ∼120% SVL. The behaviors used for the largest gaps were kinematically similar to the J-loop jumps used in gliding, and involved smaller torques than the cantilevers. These data suggest that the ability to jump allows flying snakes to access greater resources in the arboreal environment, and supports the broader hypothesis that arboreal animals jump across gaps only when reaching is not mechanically possible.

Osteology, relationships and functional morphology of Weigeltisaurus jaekeli (Diapsida, Weigeltisauridae) based on a complete skeleton from the Upper Permian Kupferschiefer of Germany

BACKGROUND

Weigeltisauridae is a clade of small-bodied diapsids characterized by a horned cranial frill, slender trunk and limbs, and a patagium supported by elongated bony rods. Partial skeletons and fragments are definitively known only from upper Permian (Lopingian) rocks in England, Germany, Madagascar and Russia. Despite these discoveries, there have been few detailed descriptions of weigeltisaurid skeletons, and the homologies of many skeletal elements-especially the rods supporting the patagium-remain the subject of controversy.

MATERIALS & METHODS

Here, we provide a detailed description of a nearly complete skeleton of Weigeltisaurus jaekeli from the upper Permian (Lopingian: Wuchiapingian) Kupferschiefer of Lower Saxony, Germany. Briefly addressed by past authors, the skeleton preserves a nearly complete skull, postcranial axial skeleton, appendicular skeleton, and patagial supports. Through comparisons with extant and fossil diapsids, we examine the hypotheses for the homologies of the patagial rods. To examine the phylogenetic position of Weigeltisauridae and characterize the morphology of the clade, we integrate the material and other weigeltisaurids into a parsimony-based phylogenetic analysis focused on Permo-Triassic non-saurian Diapsida and early Sauria (61 taxa, 339 characters).

RESULTS

We recognize a number of intriguing anatomical features in the weigeltisaurid skeleton described here, including hollow horns on the post-temporal arch, lanceolate teeth in the posterior portion of the maxilla, the absence of a bony arch connecting the postorbital and squamosal bones, elongate and slender phalanges that resemble those of extant arboreal squamates, and patagial rods that are positioned superficial to the lateral one third of the gastral basket. Our phylogenetic study recovers a monophyletic Weigeltisauridae including Coelurosauravus elivensis, Weigeltisaurus jaekeli, and Rautiania spp. The clade is recovered as the sister taxon to Drepanosauromorpha outside of Sauria (=Lepidosauria + Archosauria).

CONCLUSIONS

Our anatomical observations and phylogenetic analysis show variety of plesiomorphic diapsid characters and apomorphies of Weigeltisauridae in the specimen described here. We corroborate the hypothesis that the patagial ossifications are dermal bones unrelated to the axial skeleton. The gliding apparatus of weigeltisaurids was constructed from dermal elements unknown in other known gliding diapsids. SMNK-PAL 2882 and other weigeltisaurid specimens highlight the high morphological disparity of Paleozoic diapsids already prior to their radiation in the early Mesozoic.

Visual acuity in the flying snake, Chrysopelea paradisi

Visual control during high-speed aerial locomotion requires a visual system adapted for such behaviors. Flying snakes (genus: Chrysopelea) are capable of gliding at speeds up to 11 m s-1 and perform visual assessments before take-off. Determining nuances of control requires a closed-loop experimental system, such as immersive virtual arenas. To characterize vision in the flying snake Chrysopelea paradisi, we used digitally reconstructed models of the head to determine a 3D field of vision. We also used optokinetic drum experiments and compared slowphase optokinetic nystagmus (OKN) speeds to calculate visual acuity and conducted preliminary experiments to determine whether snakes would respond to closed-loop virtual stimuli. Visual characterization showed that C. paradisi likely has a large field of view (308.5 ± 6.5° azimuthal range), with a considerable binocular region (33.0 ± 11.0° azimuthal width) that extends overhead. Their visual systems are broadly tuned and motion-sensitive, with peak OKN response gains of 0.50 ± 0.11 seen at 46.06 ± 11.08 Hz, and a low spatial acuity, with peak gain of 0.92 ± 0.41 seen at 2.89 ± 0.16 cpd (cycles per degree). These characteristics were used to inform settings in an immersive virtual arena, including framerate, brightness, and stimulus size. In turn, the immersive virtual arena was used to reproduce the optokinetic drum experiments. We elicited OKN in open-loop experiments, with a mean gain of 0.21 ± 0.9 seen at 0.019 ± 6x10-5 cpd and 1.79 ± 0.01 Hz. In closed-loop experiments, snakes did not exhibit OKN, but held the image fixed, indicating visual stabilization. These results demonstrate for that C. paradisi responds to visual stimuli in a digital virtual arena. The accessibility and adaptability of the virtual setup make it suitable for future studies of visual control in snakes and other animals in an unconstrained setting.

What Defines Different Modes of Snake Locomotion?

Animals move in diverse ways, as indicated in part by the wide variety of gaits and modes that have been described for vertebrate locomotion. Much variation in the gaits of limbed animals is associated with changing speed, whereas different modes of snake locomotion are often associated with moving on different surfaces. For several decades different types of snake locomotion have been categorized as one of four major modes: rectilinear, lateral undulation, sidewinding, and concertina. Recent empirical work shows that the scheme of four modes of snake locomotion is overly conservative. For example, during aquatic lateral undulation, the timing between muscle activity and lateral bending changes along the length of the snake, which is unlike terrestrial lateral undulation. The motor pattern used to prevent sagging while bridging gaps also suggests that arboreal lateral undulation on narrow surfaces or with a few discrete points of support has a different motor pattern than terrestrial lateral undulation when the entire length of the snake is supported. In all types of concertina locomotion, the distance from the head to the tail changes substantially as snakes alternately flex and then extend different portions of their body. However, snakes climbing cylinders with concertina exert forces medially to attain a purchase on the branch, whereas tunnels require pushing laterally to form an anchoring region. Furthermore, different motor patterns are used for these two types of concertina movement. Some snakes climb vertical cylinders with helical wrapping completely around the cylinder, whereas all other forms of concertina bend regions of the body alternately to the left and right. Current data support rectilinear locomotion and sidewinding as being distinct modes, whereas lateral undulation and concertina are best used for defining categories of gaits with some unifying similarities. Partly as a result of different motor patterns, I propose recognizing five and four distinct types of lateral undulation and concertina, respectively, resulting in a total of 11 distinct gaits previously recognized as only four.

Control of gliding in a flying snake-inspired n-chain model

Flying snakes of genus Chrysopelea possess a highly dynamic gliding behavior, which is dominated by an undulation in the form of lateral waves sent posteriorly down the body. The resulting high-amplitude periodic variations in the distribution of mass and aerodynamic forces have been hypothesized to contribute to the stability of the snake's gliding trajectory. However, a previous 2D analysis in the longitudinal plane failed to reveal a significant effect of undulation on the stability in the pitch direction. In this study, a theoretical model was used to examine the dynamics and stability characteristics of flying snakes in three dimensions. The snake was modeled as an articulated chain of airfoils connected with revolute joints. Along the lines of vibrational control methods, which employ high-amplitude periodic inputs to produce desirable stable motions in nonlinear systems, undulation was considered as a periodic input to the system. This was implemented either by directly prescribing the joint angles as periodic functions of time (kinematic undulation), or by assuming periodic torques acting at the joints (torque undulation). The aerodynamic forces were modeled using blade element theory and previously determined force coefficients. The results show that torque undulation, along with linearization-based closed-loop control, could increase the size of the basin of stability. The effectiveness of the stabilization provided by torque undulation is a function of the amplitude and frequency of the input. In addition, kinematic undulation provides open-loop stability for sufficiently large frequencies. The results suggest that the snakes need some amount of closed-loop control despite the clear contribution of undulation to glide stability. However, as the closed-loop control system needs to work around a passively stable trajectory, undulation lowers the demand for a complex closed-loop control system. Overall, this study demonstrates the possibility of maintaining stability during gliding using a morphing body instead of symmetrically paired wings.

How animals glide: from trajectory to morphology

Animals that glide produce aerodynamic forces that enable transit through the air in both arboreal and aquatic environments. The relative ease of gliding compared with flapping flight has led to a large diversity of taxa that have evolved some degree of flight capability. Glide paths are curved, reflecting the changing forces on the animal as it progresses through its aerial trajectory. These changing forces can be under control of the glider, which uses specific aspects of anatomy to modulate lift, drag, and rotational moments on the body. However, gliders share no single anatomical or behavioral feature, and some species are unspecialized for gliding, producing aerodynamic forces using posture and orientation alone. Animals use gliding in a broad range of ecological roles, suggesting that multiple performance metrics are relevant for consideration, but we are only beginning to understand how gliders produce and control their flight from takeoff to landing. In this review, we focus on the physical aspects of how glide trajectories are produced, and additionally discuss the range of morphologies and postures that are used to control aerial movements across the broad diversity of animal gliders.

Design principles for efficient, repeated jumpgliding

Combined jumping and gliding locomotion, or 'jumpgliding', can be an efficient way for small robots or animals to travel over cluttered terrain. This paper presents functional requirements and models for a simple jumpglider which formalize the benefits and limitations of using aerodynamic surfaces to augment jumping ability. Analysis of the model gives insight into design choices and control strategies for higher performance and to accommodate special conditions such as a slippery launching surface. The model informs the design of a robotic platform that can perform repeated jumps using a carbon fiber spring and a pivoting wing. Experiments with two different versions of the platform agree with predictions from the model and demonstrate a significantly greater range, and lower cost-of-transport, than a comparable ballistic jumper.

Aerodynamics of the flying snake Chrysopelea paradisi: how a bluff body cross-sectional shape contributes to gliding performance

A prominent feature of gliding flight in snakes of the genus Chrysopelea is the unique cross-sectional shape of the body, which acts as the lifting surface in the absence of wings. When gliding, the flying snake Chrysopelea paradisi morphs its circular cross-section into a triangular shape by splaying its ribs and flattening its body in the dorsoventral axis, forming a geometry with fore–aft symmetry and a thick profile. Here, we aimed to understand the aerodynamic properties of the snake's cross-sectional shape to determine its contribution to gliding at low Reynolds numbers. We used a straight physical model in a water tunnel to isolate the effects of 2D shape, analogously to studying the profile of an airfoil of a more typical flyer. Force measurements and time-resolved (TR) digital particle image velocimetry (DPIV) were used to determine lift and drag coefficients, wake dynamics and vortex-shedding characteristics of the shape across a behaviorally relevant range of Reynolds numbers and angles of attack. The snake's cross-sectional shape produced a maximum lift coefficient of 1.9 and maximum lift-to-drag ratio of 2.7, maintained increases in lift up to 35 deg, and exhibited two distinctly different vortex-shedding modes. Within the measured Reynolds number regime (Re=3000–15,000), this geometry generated significantly larger maximum lift coefficients than many other shapes including bluff bodies, thick airfoils, symmetric airfoils and circular arc airfoils. In addition, the snake's shape exhibited a gentle stall region that maintained relatively high lift production even up to the highest angle of attack tested (60 deg). Overall, the cross-sectional geometry of the flying snake demonstrated robust aerodynamic behavior by maintaining significant lift production and near-maximum lift-to-drag ratios over a wide range of parameters. These aerodynamic characteristics help to explain how the snake can glide at steep angles and over a wide range of angles of attack, but more complex models that account for 3D effects and the dynamic movements of aerial undulation are required to fully understand the gliding performance of flying snakes.

The effects of three-dimensional gap orientation on bridging performance and behavior of brown tree snakes (Boiga irregularis)

Traversing gaps with different orientations within arboreal environments has ecological relevance and mechanical consequences for animals. For example, the orientation of the animal while crossing gaps determines whether the torques acting on the body tend to cause it to pitch or roll from the supporting perch or fail as a result of localized bending. The elongate bodies of snakes seem well suited for crossing gaps, but a long unsupported portion of the body can create large torques that make gap bridging demanding. We tested whether the three-dimensional orientation of substrates across a gap affected the performance and behavior of an arboreal snake (Boiga irregularis). The snakes crossed gaps 65% larger for vertical than for horizontal trajectories and 13% greater for straight trajectories than for those with a 90 deg turn within the horizontal plane. Our results suggest that failure due to the inability to keep the body rigid at the edge of the gap may be the primary constraint on performance for gaps with a large horizontal component. In addition, the decreased performance when the destination perch was oriented at an angle to the long axis of the initial perch was probably a result of the inability of snakes to maintain balance due to the large rolling torque. For some very large gaps the snakes enhanced their performance by using rapid lunges to cross otherwise impassable gaps. Perhaps such dynamic movements preceded the aerial behavior observed in other species of arboreal snakes.

Gliding flight in Chrysopelea: turning a snake into a wing

Although many cylindrical animals swim through water, flying snakes of the genus Chrysopelea are the only limbless animals that glide through air. Despite a lack of limbs, these snakes can actively launch by jumping, maintain a stable glide path without obvious control surfaces, maneuver, and safely land without injury. Jumping takeoffs employ vertically looped kinematics that seem to be different than any other behavior in limbless vertebrates, and their presence in a closely related genus suggests that gap-crossing may have been a behavioral precursor to the evolution of gliding in snakes. Change in shape of the body by dorsoventral flattening and high-amplitude aerial undulation comprise two key features of snakes' gliding behavior. As the snake becomes airborne, the body flattens sequentially from head to vent, forming a cross-sectional shape that is roughly triangular, with a flat surface and lateral "lips" that protrude ventrally on each side of the body; these may diminish toward the vent. This shape likely provides the snake with lift coefficients that peak at high angles of attack and gentle stall characteristics. A glide trajectory is initiated with the snake falling at a steep angle. As the snake rotates in the pitch axis, it forms a wide "S" shape and begins undulating in a complex three-dimensional pattern, with the body angled upward relative to the glide path. The head moves side-to-side, sending traveling waves posteriorly toward the tail, while the body (most prominently, the posterior end) oscillates in the vertical axis. These active movements while gliding are substantially different and more dynamic than those used by any other animal glider. As the snake gains forward speed, the glide path becomes less steep, reaching minimally recorded glide angles of 13°. In general, smaller snakes appear to be more proficient gliders. Chrysopelea paradisi can also maneuver and land either on the ground or on vegetation, but these locomotor behaviors have not been studied in detail. Future work aims to understand the mechanisms of production and control of force in takeoff, gliding, and landing, and to identify the musculoskeletal adaptations that enable this unique form of locomotion.

Non-equilibrium trajectory dynamics and the kinematics of gliding in a flying snake

Given sufficient space, it is possible for gliding animals to reach an equilibrium state with no net forces acting on the body. In contrast, every gliding trajectory must begin with a non-steady component, and the relative importance of this phase is not well understood. Of any terrestrial animal glider, snakes exhibit the greatest active movements, which may affect their trajectory dynamics. Our primary aim was to determine the characteristics of snake gliding during the transition to equilibrium, quantifying changes in velocity, acceleration, and body orientation in the late phase of a glide sequence. We launched 'flying' snakes (Chrysopelea paradisi) from a 15 m tower and recorded the mid-to-end portion of trajectories with four videocameras to reconstruct the snake's body position with mm to cm accuracy. Additionally, we developed a simple analytical model of gliding assuming only steady-state forces of lift, drag and weight acting on the body and used it to explore effects of wing loading, lift-to-drag ratio, and initial velocity on trajectory dynamics. Despite the vertical space provided to transition to steady-state gliding, snakes did not exhibit equilibrium gliding and in fact displayed a net positive acceleration in the vertical axis, an effect also predicted by the analytical model.

A bite by the Twin-Barred Tree Snake, Chrysopelea pelias (Linnaeus, 1758)

INTRODUCTION

The Twin-Barred Tree Snake, Chrysopelea pelias, is a colubrine that, like other members of the genus Chrysopelea, is able to glide in the arboreal strata. Little is known about the effects of its bite. This report is the first clinically documented bite by this relatively uncommon rear-fanged species.

CASE REPORT

The patient was a 19-year-old female who arrived at the Emergency Department (ED) of an urban teaching hospital 6 h after being bitten by a snake that was later provisionally identified as a C. pelias. Noted on presentation were bite marks on the right middle toe with minimal inflammation and tenderness. There was slight numbness over the dorsum of the right foot and discomforting sensation radiating up the thigh that persisted for several days. There was mild pyrexia, but no evidence of any systemic effects. The full blood count did show neutrophil leucocytosis, and transient hemoglobinuria was noted in an initial urine analysis.

DISCUSSION

The properties of Duvernoy's secretion of C. pelias remain uncharacterized. In this case, the clinical course featured only the local effects noted above. However, the significant local pain reported by the patient suggests that bites by C. pelias are not necessarily trivial and do require full evaluation and observation in a medical facility. Discussed also is the importance of the establishment of a national registry for animal bites and stings in Malaysia.

CONCLUSION

Such a facility could expedite safe and appropriate management of envenomed patients.

Advances in comparative physiology from high-speed imaging of animal and fluid motion

Since the time of Muybridge and Marey in the last half of the nineteenth century, studies of animal movement have relied on some form of high-speed or stop-action imaging to permit analysis of appendage and body motion. In the past ten years, the advent of megapixel-resolution high-speed digital imaging with maximal framing rates of 250 to 100,000 images per second has allowed new views of musculoskeletal function in comparative physiology that now extend to imaging flow around moving animals and the calculation of fluid forces produced by animals moving in fluids. In particular, the technique of digital particle image velocimetry (DPIV) has revolutionized our ability to understand how moving animals generate fluid forces and propel themselves through air and water. DPIV algorithms generate a matrix of velocity vectors through the use of image cross-correlation, which can then be used to calculate the force exerted on the fluid as well as locomotor work and power. DPIV algorithms can also be applied to images of moving animals to calculate the velocity of different regions of the moving animal, providing a much more detailed picture of animal motion than can traditional digitizing methods. Although three-dimensional measurement of animal motion is now routine, in the near future model-based kinematic reconstructions and volumetric analyses of animal-generated fluid flow patterns will provide the next step in imaging animal biomechanics and physiology.

Effects of perch diameter and incline on the kinematics, performance and modes of arboreal locomotion of corn snakes (Elaphe guttata)

Animals moving through arboreal habitats face several functional challenges, including fitting onto and moving on cylindrical branches with variable diameters and inclines. In contrast to lizards and primates, the arboreal locomotion of snakes is poorly understood, despite numerous snake species being arboreal. We quantified the kinematics and performance of corn snakes (Elaphe guttata) moving on seven cylinders (diameters 1.6–21 cm) with five inclines (horizontal, ±45° and±90°) and through horizontal tunnels of corresponding widths. When perches were inclined at either 45° or 90°, snakes were unable to move uphill or downhill on the larger diameters. None of the locomotion on perches conformed to any previously described mode of limbless locomotion. On horizontal and uphill perches snakes performed a variant of concertina locomotion with periodic stopping and gripping. When moving downhill, snakes often slid continuously while grasping the perch to reduce their speed. Mean forward velocity decreased both with increased incline and with increased perch diameter, contrary to the beneficial effect of increased diameter on the speeds of lizards. Both tunnel width and perch diameter had widespread and similar effects on kinematics. When perches and tunnels were narrower, the snakes had more lateral bends at shallower angles. The numerous effects of perch diameter on kinematics and the similarity to tunnel concertina locomotion emphasize the importance of fit as a limitation in arboreal locomotion of snakes. However, the slower speeds on horizontal perches compared to tunnels also suggest that balance and grip may further limit locomotor performance.

Scaling of the axial morphology and gap-bridging ability of the brown tree snake, Boiga irregularis

Networks of branches in arboreal environments create many functional challenges for animals, including traversing gaps between perches. Many snakes are arboreal and their elongate bodies are theoretically well suited for bridging gaps. However, only two studies have previously investigated gap bridging in snakes, and the effects of size are poorly understood. Thus, we videotaped and quantified maximal gap-bridging ability in a highly arboreal species of snake (Boiga irregularis), for which we were able to obtain a large range in snout–vent length (SVL=43–188 cm)and mass (10–1391 g). We expected smaller snakes to bridge relatively larger gaps than larger individuals because of their proportionately higher ratio of muscle cross-sectional area to mass. The maximal length of the gaps spanned by B. irregularis had negative allometry, indicating that smaller snakes could span a greater proportion of their length than larger snakes. The greatest relative gap distance spanned (64% SVL) was by the smallest individual. The majority of snakes (85%) simply crawled slowly to cross a gap. Most of the suspended portion of the body and the path traveled by the head were below the perch that supported the posterior body, which may decrease the tendency of the snake to roll. Some (15%) of the snakes used another behavior in which the neck inclined as much as 45° and then rapidly lunged towards the anterior perch, and this enabled them to cross larger gaps than those using the crawling behavior. Perhaps the launching behavior of the gliding tree snakes (Chrysopelea sp.) evolved from an ancestral behavior of lunging to bridge gaps analogous to that of the brown tree snakes. An estimate of the muscle strain required to prevent the body of the snake from buckling suggests that, despite being light-bodied, brown tree snakes bridging a gap may be at the limit of the physiological capacity of their epaxial muscles.