Water surface locomotion in tropical canopy ants

Limb Loss and Specialized Leg Dynamics in Tiny Water-Walking Insects

The air-water interface of the planet's water bodies, such as ponds, lakes, and streams, presents an uncertain ecological niche with predatory threats from above and below. As Microvelia americana move across the water surface in small ponds, they face potential injury from attacks by birds, fish, and underwater invertebrates. Thus, our study investigates the effects of losing individual or pairs of tarsi on M. americana's ability to walk on water. Removal of both hind tarsi causes M. americana to rock their bodies (yaw) while running across the water surface at $\pm 19^{\circ }$, compared to $\pm 7^{\circ }$ in nonablated specimens. This increase in yaw, resulting from the removal of hind tarsi, indicates that M. americana use their hind legs as "rudders" to regulate yaw, originating from the contralateral middle legs' strokes on the water's surface through an alternating tripod gait. Ablation of the ipsilateral middle and hind tarsi disrupts directionality, making M. americana turn in the direction of their intact limbs. This loss of directionality does not occur with the removal of contralateral middle and hind tarsi. However, M. americana lose their ability to use the alternating tripod gait to walk on water on the day of contralateral ablation. Remarkably, by the next day, M. americana adapt and regain the ability to walk on water using the alternating tripod gait. Our findings elucidate the specialized leg dynamics within the alternating tripod gait of M. americana, and their adaptability to tarsal loss. This research could guide the development and design strategies of small, adaptive, and resilient micro-robots that can adapt to controller malfunction or actuator damage for walking on water and terrestrial surfaces.

Tiny Amphibious Insects Use Tripod Gait for Traversal on Land, Water, and Duckweed

Insects exhibit remarkable adaptability in their locomotive strategies in diverse environments, a crucial trait for foraging, survival, and predator avoidance. Microvelia americana, tiny 2-3 mm insects that adeptly walk on water surfaces, exemplify this adaptability by using the alternating tripod gait in both aquatic and terrestrial terrains. These insects commonly inhabit low-flow ponds and streams cluttered with natural debris like leaves, twigs, and duckweed. Using high-speed imaging and pose-estimation software, we analyze M. americana movement on water, sandpaper (simulating land), and varying duckweed densities (10%, 25%, and 50% coverage). Our results reveal M. americana maintain consistent joint angles and strides of their upper and hind legs across all duckweed coverages, mirroring those seen on sandpaper. Microvelia americana adjust the stride length of their middle legs based on the amount of duckweed present, decreasing with increased duckweed coverage and at 50% duckweed coverage, their middle legs' strides closely mimic their strides on sandpaper. Notably, M. americana achieve speeds up to 56 body lengths per second on the deformable surface of water, nearly double those observed on sandpaper and duckweed, which are rough, heterogeneous surfaces. This study highlights M. americana's ecological adaptability, setting the stage for advancements in amphibious robotics that emulate their unique tripod gait for navigating complex terrains.

Limb loss and specialized leg dynamics in tiny water-walking insects

The air-water of the planet's water bodies, such as ponds, lakes and streams, presents an uncertain ecological niche with predatory threats from above and below. As Microvelia move across the water surface in small ponds, they face potential injury from attacks by birds, fish, and underwater invertebrates. Thus, our study investigates the effects of losing individual or pairs of tarsi on the Microvelia's ability to walk on water. Removal of both hind tarsi causes Microvelia spp. to rock their bodies (yaw) while running across the water surface at ±19°, compared to ±7° in non-ablated specimens. This increase in yaw, resulting from the removal of hind tarsi, indicates that Microvelia use their hind legs as 'rudders' to regulate yaw, originating from the contralateral middle legs' strokes on the water's surface through an alternating tripod gait. Ablation of the ipsilateral middle and hind tarsi disrupts directionality, making Microvelia turn in the direction of their intact limbs. This loss of directionality does not occur with the removal of contralateral middle and hind tarsi. However, Microvelia lose their ability to use the alternating tripod gait to walk for water walking on the day of contralateral ablation. Remarkably, by the next day Microvelia adapt and regain the ability to walk on water using the alternating tripod gait. Our findings elucidate the specialized leg dynamics within the alternating tripod gait of Microvelia spp., and their adaptability to tarsal loss. This research could guide the development and design strategies of small, adaptive, and resilient micro-robots that can adapt to controller malfunction or actuator damage for walking on water and terrestrial surfaces.

Tiny amphibious insects use tripod gait for seamless transition across land, water, and duckweed

Insects exhibit remarkable adaptability in their locomotive strategies across diverse environments, a crucial trait for foraging, survival, and predator avoidance. Microvelia, tiny 2-3 mm insects that adeptly walk on water surfaces, exemplify this adaptability by using the alternating tripod gait in both aquatic and terrestrial terrains. These insects commonly inhabit low-flow ponds and streams cluttered with natural debris like leaves, twigs, and duckweed. Using high-speed imaging and pose-estimation software, we analyze Microvelia spp.'s movement across water, sandpaper (simulating land), and varying duckweed densities (10%, 25%, and 50% coverage). Our results reveal Microvelia maintain consistent joint angles and strides of their upper and hind legs across all duckweed coverages, mirroring those seen on sandpaper. Microvelia adjust the stride length of their middle legs based on the amount of duckweed present, decreasing with increased duckweed coverage and at 50% duckweed coverage, their middle legs' strides closely mimic their strides on sandpaper. Notably, Microvelia achieve speeds up to 56 body lengths per second on water, nearly double those observed on sandpaper and duckweed (both rough, frictional surfaces), highlighting their higher speeds on low friction surfaces such as the water's surface. This study highlights Microvelia's ecological adaptability, setting the stage for advancements in amphibious robotics that emulate their unique tripod gait for navigating complex terrains.

Multiple forces facilitate the aquatic acrobatics of grasshopper and bioinspired robot

Aquatic locomotion is challenging for land-dwelling creatures because of the high degree of fluidity with which the water yields to loads. We surprisingly found that the Chinese rice grasshopper Oxya chinensis, known for its terrestrial acrobatics, could swiftly launch itself off the water's surface in around 25 ms and seamlessly transition into flight. Biological observations showed that jumping grasshoppers use their front and middle legs to tilt up bodies first and then lift off by propelling the water toward the lower back with hind legs at angular speeds of up to 18°/ms, whereas the swimming grasshoppers swing their front and middle legs in nearly horizontal planes and move hind legs less violently (~8°/ms). Force measurement and model analysis indicated that the weight support could be achieved by hydrostatics which are proportionate to the mass of the grasshoppers, while the propulsions for motion are derived from the controlled limb-water interactions (i.e., the hydrodynamics). After learning the structural and behavioral strategies of the grasshoppers, a robot was created and was capable of swimming and jumping on the water surface like the insects, further demonstrating the effectiveness of decoupling the challenges of aquatic locomotion by the combined use of the static and dynamic hydro forces. This work not only uncovered the combined mechanisms responsible for facilitating aquatic acrobatics in this species but also laid a foundation for developing bioinspired robots that can locomote across multiple media.

Use of Visual Information by Ant Species Occurring in Similar Urban Anthropogenic Environments

Many insects, including ants, are known to respond visually to conspicuous objects. In this study, we compared orientation in an arena containing only a black target beacon as local information in six species of ants of widely varying degree of phylogenic relatedness, foraging strategy, and eye morphology (Aphaenogaster, Brachyponera, Camponotus, Formica, and two Lasius spp.), often found associated in similar urban anthropogenic habitats. Four species of ants displayed orientation toward the beacon, with two orienting toward it directly, while the other two approached it via convoluted paths. The two remaining species did not show any orientation with respect to the beacon. The results did not correlate with morphological parameters of the visual systems and could not be fully interpreted in terms of the species' ecology, although convoluted paths are linked to higher significance of chemical signals. Beacon aiming was shown to be an innate behavior in visually naive Formica workers, which, however, were less strongly attracted to the beacon than older foragers. Thus, despite sharing the same habitats and supposedly having similar neural circuits, even a very simple stimulus-related behavior in the absence of other information can differ widely in ants but is likely an ancestral trait retained especially in species with smaller eyes. The comparative analysis of nervous systems opens the possibility of determining general features of circuits responsible for innate and possibly learned attraction toward particular stimuli.

Active behaviour of terrestrial caterpillars on the water surface

Most butterfly and moth larvae (Lepidoptera) are terrestrial. When terrestrial caterpillars accidentally fall into water, they may drown or be preyed upon by aquatic predators before they can safely reach land. However, how terrestrial caterpillars escape aquatic environments and predators remains unclear. In July 2018, we observed a terrestrial caterpillar actively moving forward on the surface of a pond in Japan until it successfully reached the shore. To further investigate this behaviour in terrestrial caterpillars, we experimentally placed larvae of 13 moth species (four families) on a water surface under laboratory and field conditions. All caterpillars floated. Larvae of seven species moved forward on the water surface, whereas those of six species did not. A total of two types of behaviour were observed; in Dinumma deponens, Hypopyra vespertilio, Spirama retorta, Laelia coenosa, Lymantria dispar (all Erebidae), and Naranga aenescens (Noctuidae), larvae swung their bodies rapidly from side to side to propel themselves along the water surface (i.e., undulatory behaviour); in contrast, larvae of Acosmetia biguttula (Noctuidae) rapidly moved the abdomen (posterior segments) up and down for propulsion along the water surface (i.e., flick behaviour). Although thoracic legs were not used for undulatory and flick behaviour, rapid movements of the abdomen were used to propel caterpillars on the water surface. We also observed that undulatory and flick behaviour on the water surface aided caterpillars in escaping aquatic predators under field conditions. In addition, we investigated the relationship between body size and undulatory behaviour on the water surface in the erebid S. retorta under laboratory conditions. The frequency and speed of forward movement on the water surface increased with body length. Together, these results show that the rapid movement of elongated bodies results in forward propulsion on the water surface, allowing some terrestrial caterpillars to avoid drowning or aquatic predators. We further suggested potential factors related to morphology, host plant habitat, and defensive behaviour that may have led to the acquisition of aquatic behaviour in terrestrial caterpillars.

The Role of River Flooding as an Environmental Filter for Amazonian Butterfly Assemblages

Amazonian flooded (várzea) and upland (terra firme) forests harbor distinct assemblages of most taxonomic groups. These differences are mainly attributed to flooding, which may affect directly or indirectly the persistence of species. Here, we compare the abundance, richness and composition of butterfly assemblages in várzea and terra firme forests, and evaluate whether environmental gradients between and within these forest types can be used to predict patterns of assemblage structure. We found that both total abundance and number of species per plot are higher in várzea than in terra firme forests. Várzea assemblages had a higher dominance of abundant species than terra firme assemblages, in which butterfly abundances were more equitable. Rarefied species richness for várzea and terra firme forests was similar. There was a strong turnover in species composition from várzea to terra firme forests associated with environmental change between these forest types, but with little evidence for an effect of the environmental gradients within forest types. Despite a smaller total area in the Amazon basin, less defined vegetation strata and the shorter existence over geological time of floodplain forests, Nymphalid-butterfly assemblages were not more species-poor in várzea forests than in unflooded forests. We highlight the role of flooding as a primary environmental filter in Amazonian floodplain forests, which strongly determines the composition of butterfly assemblages.

Adhesion and Running Speed of a Tropical Arboreal Ant (Cephalotes atratus) on Rough, Narrow, and Inclined Substrates

Arboreal ants must navigate variably sized and inclined linear structures across a range of substrate roughness when foraging tens of meters above the ground. To achieve this, arboreal ants use specialized adhesive pads and claws to maintain effective attachment to canopy substrates. Here, we explored the effect of substrate structure, including small and large-scale substrate roughness, substrate diameter, and substrate orientation (inclination), on adhesion and running speed of workers of one common, intermediately-sized, arboreal ant species. Normal (orthogonal) and shear (parallel) adhesive performance varied on sandpaper and natural leaf substrates, particularly at small size scales, but running speed on these substrates remained relatively constant. Running speed also varied minimally when running up and down inclined substrates, except when the substrate was positioned completely vertical. On vertical surfaces, ants ran significantly faster down than up. Ant running speed was slower on relatively narrow substrates. The results of this study show that variation in the physical properties of tree surfaces differentially affects arboreal ant adhesive and locomotor performance. Specifically, locomotor performance was much more robust to surface roughness than was adhesive performance. The results provide a basis for understanding how performance correlates of functional morphology contribute to determining local ant distributions and foraging decisions in the tropical rainforest canopy.

Water locomotion and survival under water in a riparian harvestman (Opiliones, Arachnida)

Animals that live by rivers may benefit from being able to cross them, but behavioral adaptations are needed. Additionally, being able to remain submerged is also important if the animal moves under water. Here we asked whether the harvestman Heteromitobates discolor (Opiliones), that lives by rivers, (a) can propel itself across the water surface, (b) moves onto the water if disturbed and (c) can survive for long periods when submerged. Heteromitobates discolor exhibited two gaits on water, whereas a strictly terrestrial species was not able to propel itself. When experimentally submitted to simulated predator attack on a rock on the river, H. discolor walked onto the water, while a strictly terrestrial species did not. Finally, it was able to survive for 6 h under water, presumably due to the conspicuous air film that formed around its body, which was also observed in a strictly terrestrial species. Altogether, these observations suggest that the aquatic environment is not a barrier for regular activity and can be used as an extension of the terrestrial environment for H. discolor.

Locomotion of arthropods in aquatic environment and their applications in robotics

Many bio-inspired robots have been developed so far after careful investigation of animals' locomotion. To successfully apply the locomotion of natural counterparts to robots for efficient and improved mobility, it is essential to understand their principles. Although a lot of research has studied either animals' locomotion or bio-inspired robots, there have only been a few attempts to broadly review both of them in a single article. Among the millions of animal species, this article reviewed various forms of aquatic locomotion in arthropods including relevant bio-inspired robots. Despite some previous robotics research inspired by aquatic arthropods, we found that many less-investigated or even unexplored areas are still present. Therefore, this article has been prepared to identify what types of new robotics research can be carried out after drawing inspiration from the aquatic locomotion of arthropods and to provide fruitful insights that may lead us to develop an agile and efficient aquatic robot.

Innate turning preference of leaf-cutting ants in the absence of external orientation cues

Many ants use a combination of cues for orientation but how do ants find their way when all external cues are suppressed? Do they walk in a random way or are their movements spatially oriented? Here we show for the first time that leaf-cutting ants (Acromyrmex lundii) have an innate preference of turning counter-clockwise (left) when external cues are precluded. We demonstrated this by allowing individual ants to run freely on the water surface of a newly-developed treadmill. The surface tension supported medium-sized workers but effectively prevented ants from reaching the wall of the vessel, important to avoid wall-following behaviour (thigmotaxis). Most ants ran for minutes on the spot but also slowly turned counter-clockwise in the absence of visual cues. Reconstructing the effectively walked path revealed a looping pattern which could be interpreted as a search strategy. A similar turning bias was shown for groups of ants in a symmetrical Y-maze where twice as many ants chose the left branch in the absence of optical cues. Wall-following behaviour was tested by inserting a coiled tube before the Y-fork. When ants traversed a left-coiled tube, more ants chose the left box and vice versa. Adding visual cues in form of vertical black strips either outside the treadmill or on one branch of the Y-maze led to oriented walks towards the strips. It is suggested that both, the turning bias and the wall-following are employed as search strategies for an unknown environment which can be overridden by visual cues.

Arachnid aloft: directed aerial descent in neotropical canopy spiders

The behaviour of directed aerial descent has been described for numerous taxa of wingless hexapods as they fall from the tropical rainforest canopy, but is not known in other terrestrial arthropods. Here, we describe similar controlled aerial behaviours for large arboreal spiders in the genus Selenops (Selenopidae). We dropped 59 such spiders from either canopy platforms or tree crowns in Panama and Peru; the majority (93%) directed their aerial trajectories towards and then landed upon nearby tree trunks. Following initial dorsoventral righting when necessary, falling spiders oriented themselves and then translated head-first towards targets; directional changes were correlated with bilaterally asymmetric motions of the anterolaterally extended forelegs. Aerial performance (i.e. the glide index) decreased with increasing body mass and wing loading, but not with projected surface area of the spider. Along with the occurrence of directed aerial descent in ants, jumping bristletails, and other wingless hexapods, this discovery of targeted gliding in selenopid spiders further indicates strong selective pressures against uncontrolled falls into the understory for arboreal taxa.

The descent of ant: field-measured performance of gliding ants

Gliding ants avoid predatory attacks and potentially mortal consequences of dislodgement from rainforest canopy substrates by directing their aerial descent towards nearby tree trunks. The ecologically relevant measure of performance for gliding ants is the ratio of net horizontal to vertical distance traveled over the course of a gliding trajectory, or glide index. To study variation in glide index, we measured three-dimensional trajectories of Cephalotes atratus ants gliding in natural rainforest habitats. We determined that righting phase duration, glide angle, and path directness all significantly influence variation in glide index. Unsuccessful landing attempts result in the ant bouncing off its target and being forced to make a second landing attempt. Our results indicate that ants are not passive gliders and that they exert active control over the aerodynamic forces they experience during their descent, despite their apparent lack of specialized control surfaces.