Why animals can outrun robots

Animals are much better at running than robots. The difference in performance arises in the important dimensions of agility, range, and robustness. To understand the underlying causes for this performance gap, we compare natural and artificial technologies in the five subsystems critical for running: power, frame, actuation, sensing, and control. With few exceptions, engineering technologies meet or exceed the performance of their biological counterparts. We conclude that biology's advantage over engineering arises from better integration of subsystems, and we identify four fundamental obstacles that roboticists must overcome. Toward this goal, we highlight promising research directions that have outsized potential to help future running robots achieve animal-level performance.

Curvilinear walking elevates fall risk and modulates slip and compensatory step attributes after unconstrained human slips

While much attention has been paid to understanding slip-related falls in humans, little has been focused on curvilinear paths despite their prevalence, distinct biomechanical demands and increased slipping threat. We determined the mechanics, compensatory stepping reactions and fall risk associated with slips during fixed-speed walking across ranges of path curvature, slipped foot and slip onset phase contexts possible in the community, which builds upon previous work by examining speed-independent effects of curvilinear walking. Twenty-one participants experienced 15 unconstrained slips induced by a wearable friction-reducing device as motion capture and harness load cell data were recorded. Falls were most likely after early stance slips to the inside foot and increased at tighter curvatures. Slip distance and peak velocity decreased as slips began later in stance phase, did not differ between feet, and accelerated on tighter paths. Slipping foot directions relative to heading transitioned from anterior (forward) to posterior (backward) as slips began later in stance, were ipsilateral (toward the slipping foot side) and contralateral (toward the opposite side) for the outside and inside foot, respectively, and became increasingly ipsilateral/contralateral on tighter curvatures. Compensatory steps were placed anteriorly and ipsilaterally after outside and inside foot slips, respectively, and lengthened at later onset phases for outside foot slips only. Our findings illustrate slip magnitude and fall risk relationships that suggest slip direction may influence the balance threat posed by a slip, imply that walking speed may modify slip likelihood, and indicate the most destabilizing curved walking contexts to target in future perturbation-based balance training approaches.

Movement ecology of an endangered mesopredator in a mining landscape

BACKGROUND

Efficient movement and energy expenditure are vital for animal survival. Human disturbance can alter animal movement due to changes in resource availability and threats. Some animals can exploit anthropogenic disturbances for more efficient movement, while others face restricted or inefficient movement due to fragmentation of high-resource habitats, and risks associated with disturbed habitats. Mining, a major anthropogenic disturbance, removes natural habitats, introduces new landscape features, and alters resource distribution in the landscape. This study investigates the effect of mining on the movement of an endangered mesopredator, the northern quoll (Dasyurus hallucatus). Using GPS collars and accelerometers, we investigate their habitat selection and energy expenditure in an active mining landscape, to determine the effects of this disturbance on northern quolls.

METHODS

We fit northern quolls with GPS collars and accelerometers during breeding and non-breeding season at an active mine site in the Pilbara region of Western Australia. We investigated broad-scale movement by calculating the movement ranges of quolls using utilisation distributions at the 95% isopleth, and compared habitat types and environmental characteristics within observed movement ranges to the available landscape. We investigated fine-scale movement by quolls with integrated step selection functions, assessing the relative selection strength for each habitat covariate. Finally, we used piecewise structural equation modelling to analyse the influence of each habitat covariate on northern quoll energy expenditure.

RESULTS

At the broad scale, northern quolls predominantly used rugged, rocky habitats, and used mining habitats in proportion to their availability. However, at the fine scale, habitat use varied between breeding and non-breeding seasons. During the breeding season, quolls notably avoided mining habitats, whereas in the non-breeding season, they frequented mining habitats equally to rocky and riparian habitats, albeit at a higher energetic cost.

CONCLUSION

Mining impacts northern quolls by fragmenting favoured rocky habitats, increasing energy expenditure, and potentially impacting breeding dispersal. While mining habitats might offer limited resource opportunities in the non-breeding season, conservation efforts during active mining, including the creation of movement corridors and progressive habitat restoration would likely be useful. However, prioritising the preservation of natural rocky and riparian habitats in mining landscapes is vital for northern quoll conservation.

Flour beetles prefer corners over walls and are slowed down with increasing habitat complexity

Movement affects all key behaviours in which animals engage, including dispersal and habitat use. The red flour beetle, known as a cosmopolitan pest of stored products, was the subject of our study. We examined whether the beetles preferred corners, walls or open areas, and how turns or obstacles in corridors delayed the beetles' arrival at a target cell. Beetles spent significantly more time in corners than expected by chance, while they spent considerably less time in open areas than expected. However, no significant difference was observed between areas with two or three surrounding walls. This could be attributed to the beetles' stronger attraction to corners than crevices or the insufficient proximity of the third wall to the other two. Movement through the corridor was delayed by turns or obstacles, expressed in arrival probabilities, arrival times, time in the corridor or movement speed. Obstacles on the corridor's perimeter had a stronger effect on the beetle movement than those in the corridor's centre owing to the beetles' tendency to follow walls. The research is important also for applied purposes, such as better understanding beetle movement, how to delay their arrival to new patches, and where to place traps.

Stop, then go! Rapid acceleration offsets the costs of intermittent locomotion when turning in Florida scrub lizards

Intermittent locomotion is a common locomotor mode in small vertebrates. Pausing is thought to aid in locating a predator or prey, enhancing crypsis, lowering energy costs, and/or maneuvering around obstacles or toward a refuge. Many lizards flee predators by turning into potential refugia and subsequently pausing, presumably to conceal themselves. Intermittent locomotion may be associated with turning by allowing an animal time to assess its surroundings and/or decreasing the likelihood of losing its footing. In this study, we quantify locomotor performance and the use of intermittent locomotion in Florida scrub lizards (Sceloporus woodi) when navigating either a 45° or 90° turn. Lizards paused in 92.91% of all trials, and yet despite pausing, instantaneous speed was not different entering or exiting the turn. This result suggests that turning comes at minimal cost to forward speed for lizards under these conditions. Pausing during a turn, however, did slow speed in the turn. Interestingly, the speed in the turn did not differ in trials with a pause before the turn versus trials without a pause. The angle of the turn also had no effect on whether lizards paused. We found that lizards increase peak acceleration following pauses to compensate for lost speed during the pause, providing a mechanism that may minimize negative fitness effects associated with slow running speeds and allow intermittent locomotion to be such a common strategy in lizards.

Spatiotemporal walking gait kinematics of semi-arboreal red pandas (Ailurus fulgens)

Semi-arboreal mammals must routinely cope with the differing biomechanical challenges of terrestrial versus arboreal locomotion; however, it is not clear to what extent semi-arboreal mammals adjust footfall patterns when moving on different substrates. We opportunistically filmed quadrupedal locomotion (n = 132 walking strides) of semi-arboreal red pandas (Ailurus fulgens; n = 3) housed at Cleveland Metroparks Zoo and examined the effects of substrate type on spatiotemporal gait kinematic variables using linear mixed models. We further investigated the effects of substrate diameter and orientation on arboreal gait kinematics. Red pandas exclusively used lateral sequence (LS) gaits and most frequently utilized LS lateral couplet gaits across terrestrial and arboreal substrates. Red pandas moved significantly slower (p < 0.001), and controlling for speed, had significantly greater relative stride length (p < 0.001), mean stride duration (p = 0.002), mean duty factor (p < 0.001), and mean number of supporting limbs (p < 0.001) during arboreal locomotion. Arboreal strides on inclined substrates were characterized by significantly faster relative speeds and increased limb phase values compared with those horizontal and declined substrates. These kinematics adjustments help to reduce substrate oscillations thereby promoting stability on potentially precarious arboreal substrates. Red panda limb phase values are similar to those of (primarily terrestrial) Carnivora examined to date. Despite the similarity in footfall patterns during arboreal and terrestrial locomotion, flexibility in other kinematic variables is important for semi-arboreal red pandas that must navigate disparate biomechanical challenges inherent to arboreal versus terrestrial locomotion.

Drink safely: common swifts (Apus apus) dissipate mechanical energy to decrease flight speed before touch-and-go drinking

Flight is an efficient way of transport over a unit of distance, but it can be very costly over each unit of time, and reducing flight energy expenditure is a major selective pressure in birds. The common swift (Apus apus) is one of the most aerial bird species, performing most behaviours in flight: foraging, sleeping and also drinking by regularly descending to various waterbodies and skimming over the surface. An energy-saving way to perform such touch-and-go drinking would be to strive to conserve mechanical energy, by transforming potential energy to kinetic energy during the gliding descent, touching water at high speed, and regaining height with minimal muscular work. Using 3D optical tracking, we recorded 163 swift drinking trajectories, over three waterbodies near Rennes, France. Contrary to the energy conservation hypothesis, we show that swifts approaching a waterbody with a higher mechanical energy (higher height and/or speed 5 s before contact) do not reach the water at higher speeds, but do brake, i.e. dissipate mechanical energy to lose both height and speed. Braking seems to be linked with sharp turns and the use of headwind to some extent, but finer turns and postural adjustments, beyond the resolving power of our tracking data, could also be involved. We hypothesize that this surprisingly costly behaviour results from a trade-off between energy expenditure and safety, because approaching a water surface requires fine motor control, and high speed increases the risk of falling into the water, which would have serious energetic and survival costs for a swift.

Escape response kinematics in two species of tropical shark: short escape latencies and high turning performance

Accelerative manoeuvres, such as fast-starts, are crucial for fish to avoid predation. Escape responses are fast-starts that include fundamental survival traits for prey that experience high predation pressure. However, no previous study has assessed escape performance in neonate tropical sharks. We quantitatively evaluated vulnerability traits of neonate tropical sharks by testing predictions on their fast-start escape performance. We predicted (1) high manoeuvrability, given their high flexibility, but (2) low propulsive locomotion owing to the drag costs associated with pectoral fin extension during escape responses. Further, based on previous work on dogfish, Squalus suckleyi, we predicted (3) long reaction times (as latencies longer than teleosts, >20 ms). We used two-dimensional, high-speed videography analysis of mechano-acoustically stimulated neonate blacktip reef shark, Carcharhinus melanopterus (n=12), and sicklefin lemon shark, Negaprion acutidens (n=8). Both species performed a characteristic C-start double-bend response (i.e. two body bends), but single-bend responses were only observed in N. acutidens. As predicted, neonate sharks showed high manoeuvrability with high turning rates and tight turning radii (3-11% of body length) but low propulsive performance (i.e. speed, acceleration and velocity) when compared with similar-sized teleosts and S. suckleyi. Contrary to expectations, escape latencies were <20 ms in both species, suggesting that the neurophysiological system of sharks when reacting to a predatory attack may not be limited to long response times. These results provide a quantitative assessment of survival traits in neonate tropical sharks that will be crucial for future studies that consider the vulnerability of these sharks to predation.

Variations in cost of transport and their ecological consequences: a review

Movement is essential in the ecology of most animals, and it typically consumes a large proportion of individual energy budgets. Environmental conditions modulate the energetic cost of movement (cost of transport, COT), and there are pronounced differences in COT between individuals within species and across species. Differences in morphology affect COT, but the physiological mechanisms underlying variation in COT remain unresolved. Candidates include mitochondrial efficiency and the efficiency of muscle contraction-relaxation dynamics. Animals can offset increased COT behaviourally by adjusting movement rate and habitat selection. Here, we review the theory underlying COT and the impact of environmental changes on COT. Increasing temperatures, in particular, increase COT and its variability between individuals. Thermal acclimation and exercise can affect COT, but this is not consistent across taxa. Anthropogenic pollutants can increase COT, although few chemical pollutants have been investigated. Ecologically, COT may modify the allocation of energy to different fitness-related functions, and thereby influence fitness of individuals, and the dynamics of animal groups and communities. Future research should consider the effects of multiple stressors on COT, including a broader range of pollutants, the underlying mechanisms of COT and experimental quantifications of potential COT-induced allocation trade-offs.

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.

A bio-inspired robotic climbing robot to understand kinematic and morphological determinants for an optimal climbing gait

Robotic systems for complex tasks, such as search and rescue or exploration, are limited for wheeled designs, thus the study of legged locomotion for robotic applications has become increasingly important. To successfully navigate in regions with rough terrain, a robot must not only be able to negotiate obstacles, but also climb steep inclines. Following the principles of biomimetics, we developed a modular bio-inspired climbing robot, named X4, which mimics the lizard's bauplan including an actuated spine, shoulders, and feet which interlock with the surface via claws. We included the ability to modify gait and hardware parameters and simultaneously collect data with the robot's sensors on climbed distance, slip occurrence and efficiency. We first explored the speed-stability trade-off and its interaction with limb swing phase dynamics, finding a sigmoidal pattern of limb movement resulted in the greatest distance travelled. By modifying foot orientation, we found two optima for both speed and stability, suggesting multiple stable configurations. We varied spine and limb range of motion, again showing two possible optimum configurations, and finally varied the centre of pro- and retraction on climbing performance, showing an advantage for protracted limbs during the stride. We then stacked optimal regions of performance and show that combining optimal dynamic patterns with either foot angles or ROM configurations have the greatest performance, but further optima stacking resulted in a decrease in performance, suggesting complex interactions between kinematic parameters. The search of optimal parameter configurations might not only be beneficial to improve robotic in-field operations but may also further the study of the locomotive evolution of climbing of animals, like lizards or insects.

Plasticity of Performance Curves in Ectotherms: Individual Variation Modulates Population Responses to Environmental Change

Many ectothermic animals can respond to changes in their environment by altering the sensitivities of physiological rates, given sufficient time to do so. In other words, thermal acclimation and developmental plasticity can shift thermal performance curves so that performance may be completely or partially buffered against the effects of environmental temperature changes. Plastic responses can thereby increase the resilience to temperature change. However, there may be pronounced differences between individuals in their capacity for plasticity, and these differences are not necessarily reflected in population means. In a bet-hedging strategy, only a subsection of the population may persist under environmental conditions that favour either plasticity or fixed phenotypes. Thus, experimental approaches that measure means across individuals can not necessarily predict population responses to temperature change. Here, we collated published data of 608 mosquitofish (Gambusia holbrooki) each acclimated twice, to a cool and a warm temperature in random order, to model how diversity in individual capacity for plasticity can affect populations under different temperature regimes. The persistence of both plastic and fixed phenotypes indicates that on average, neither phenotype is selectively more advantageous. Fish with low acclimation capacity had greater maximal swimming performance in warm conditions, but their performance decreased to a greater extent with decreasing temperature in variable environments. In contrast, the performance of fish with high acclimation capacity decreased to a lesser extent with a decrease in temperature. Hence, even though fish with low acclimation capacity had greater maximal performance, high acclimation capacity may be advantageous when ecologically relevant behaviour requires submaximal locomotor performance. Trade-offs, developmental effects and the advantages of plastic phenotypes together are likely to explain the observed population variation.

Single limb dynamics of jumping turns in dogs

Maneuverability is of paramount importance for many animals, e.g., in predator-prey interactions. Despite this fact, quadrupedal limb behavior in complicated maneuvers like simultaneous jumping and turning are not well studied. Twenty adult sport Border Collies were recorded while jumping over an obstacle and simultaneously turning. Kinetic and kinematic data were captured in synchrony using eight force plates and sixteen infrared cameras. These dogs were familiar with the task through regular participation in the dog sport agility. The experiments revealed that during landing, higher lateral forces acting in the forelimbs compared to hindlimbs. During landing, the outer limbs produced about twice the inner limbs' force in both vertical and lateral directions, showing their dominant contribution to turning. Advanced dogs showed significantly higher lateral impulse and stronger inner-outer limb asymmetry regarding lateral impulses than beginner dogs, leading to significantly stronger turning for advanced dogs. Somewhat unexpected, skill effects rarely explained global limb dynamics, indicating that landing a turn jump is a constrained motion. Constrained motions leave little space for individual techniques suggesting that the results can be generalized to quadrupedal turn jumps in other animals.

Moving to the city: testing the implications of morphological shifts on locomotor performance in introduced urban lizards

Understanding how morphology affects performance in novel environments and how populations shift their morphology in response to environmental selective pressures is necessary to understand how invaders can be successful. We tested these relationships in a global colonizer, the common wall lizard (Podarcis muralis), translocated to Cincinnati, OH, USA 70 years ago. We investigated how morphology shifts in this population inhabiting a novel environment, how these morphological shifts influence locomotor performance and how performance changes in novel conditions. We compared the morphology of museum specimens and current lizards to see which aspects of morphology have shifted over time. Although overall body size did not change, most body dimensions reduced in size. We measured sprint speed with a full-factorial design of substrate type, incline angle and obstacles. We identified a pattern of negative correlation in sprint performance between conditions with and without obstacles. The locomotor advantage of larger body size was diminished when obstacles were present. Finally, there was no relationship between individual variation in contemporary morphology and sprint performance, providing no support to the hypothesis that these shifts are attributable to selective pressures on locomotor performance in the conditions tested.

Evolutionary and Biomechanical Basis of Drumming Behavior in Woodpeckers

Understanding how and why behavioral traits diversify during the course of evolution is a longstanding goal of organismal biologists. Historically, this topic is examined from an ecological perspective, where behavioral evolution is thought to occur in response to selection pressures that arise through different social and environmental factors. Yet organismal physiology and biomechanics also play a role in this process by defining the types of behavioral traits that are more or less likely to arise. Our paper explores the interplay between ecological, physiological, and mechanical factors that shape the evolution of an elaborate display in woodpeckers called the drum. Individuals produce this behavior by rapidly hammering their bill on trees in their habitat, and it serves as an aggressive signal during territorial encounters. We describe how different components of the display—namely, speed (bill strikes/beats sec–1), length (total number of beats), and rhythm—differentially evolve likely in response to sexual selection by male-male competition, whereas other components of the display appear more evolutionarily static, possibly due to morphological or physiological constraints. We synthesize research related to principles of avian muscle physiology and ecology to guide inferences about the biomechanical basis of woodpecker drumming. Our aim is to introduce the woodpecker as an ideal study system to study the physiological basis of behavioral evolution and how it relates to selection born through different ecological factors.

Freely Behaving Mice Can Brake and Turn During Optogenetic Stimulation of the Mesencephalic Locomotor Region

A key function of the mesencephalic locomotor region (MLR) is to control the speed of forward symmetrical locomotor movements. However, the ability of freely moving mammals to integrate environmental cues to brake and turn during MLR stimulation is poorly documented. Here, we investigated whether freely behaving mice could brake or turn, based on environmental cues during MLR stimulation. We photostimulated the cuneiform nucleus (part of the MLR) in mice expressing channelrhodopsin in Vglut2-positive neurons in a Cre-dependent manner (Vglut2-ChR2-EYFP) using optogenetics. We detected locomotor movements using deep learning. We used patch-clamp recordings to validate the functional expression of channelrhodopsin and neuroanatomy to visualize the stimulation sites. In the linear corridor, gait diagram and limb kinematics were similar during spontaneous and optogenetic-evoked locomotion. In the open-field arena, optogenetic stimulation of the MLR evoked locomotion, and increasing laser power increased locomotor speed. Mice could brake and make sharp turns (~90°) when approaching a corner during MLR stimulation in the open-field arena. The speed during the turn was scaled with the speed before the turn, and with the turn angle. Patch-clamp recordings in Vglut2-ChR2-EYFP mice show that blue light evoked short-latency spiking in MLR neurons. Our results strengthen the idea that different brainstem neurons convey braking/turning and MLR speed commands in mammals. Our study also shows that Vglut2-positive neurons of the cuneiform nucleus are a relevant target to increase locomotor activity without impeding the ability to brake and turn when approaching obstacles, thus ensuring smooth and adaptable navigation. Our observations may have clinical relevance since cuneiform nucleus stimulation is increasingly considered to improve locomotion function in pathological states such as Parkinson's disease, spinal cord injury, or stroke.

Accidents alter animal fitness landscapes

Animals alter their habitat use in response to the energetic demands of movement ('energy landscapes') and the risk of predation ('the landscape of fear'). Recent research suggests that animals also select habitats and move in ways that minimise their chance of temporarily losing control of movement and thereby suffering slips, falls, collisions or other accidents, particularly when the consequences are likely to be severe (resulting in injury or death). We propose that animals respond to the costs of an 'accident landscape' in conjunction with predation risk and energetic costs when deciding when, where, and how to move in their daily lives. We develop a novel theoretical framework describing how features of physical landscapes interact with animal size, morphology, and behaviour to affect the risk and severity of accidents, and predict how accident risk might interact with predation risk and energetic costs to dictate movement decisions across the physical landscape. Future research should focus on testing the hypotheses presented here for different real-world systems to gain insight into the relative importance of theorised effects in the field.

A little damping goes a long way: a simulation study of how damping influences task-level stability in running

It is currently unclear if damping plays a functional role in legged locomotion, and simple models often do not include damping terms. We present a new model with a damping term that is isolated from other parameters: that is, the damping term can be adjusted without retuning other model parameters for nominal motion. We systematically compare how increased damping affects stability in the face of unexpected ground-height perturbations. Unlike most studies, we focus on task-level stability: instead of observing whether trajectories converge towards a nominal limit-cycle, we quantify the ability to avoid falls using a recently developed mathematical measure. This measure allows trajectories to be compared quantitatively instead of only being separated into a binary classification of 'stable' or 'unstable'. Our simulation study shows that increased damping contributes significantly to task-level stability; however, this benefit quickly plateaus after only a small amount of damping. These results suggest that the low intrinsic damping values observed experimentally may have stability benefits and are not simply minimized for energetic reasons. All Python code and data needed to generate our results are available open source.

Functional and Environmental Constraints on Prey Capture Speed in a Lizard

Movement is an important component of animal behavior and determines how an organism interacts with its environment. The speed at which an animal moves through its environment can be constrained by internal (e.g., physiological state) and external factors (e.g., habitat complexity). When foraging, animals should move at speeds that maximize prey capture while minimizing mistakes (i.e., missing prey, slipping). We used experimental arenas containing obstacles spaced in different arrays to test how variation in habitat complexity influenced attack distance, prey capture speed, and foraging success in the Prairie Lizard. Obstacles spaced uniformly across arenas resulted in 15% slower prey capture speed and 30–38% shorter attack distance compared to arenas with no obstacles or with obstacles clustered in opposite corners of the arena. Prey capture probability was not influenced by arena type or capture speed, but declined with increasing attack distance. Similarly, the probability of prey consumption declined with attack distance across arena types. However, prey consumption probability declined with increasing prey capture speed in more open arenas but not in the cluttered arena. Foraging accuracy declined with increasing speed in more open arenas, and remained relatively constant when obstacles were in closer proximity. Foraging success was primarily constrained by intrinsic properties (speed-maneuverability tradeoff) when ample space was available, but environmental conditions had a greater impact on foraging success in “cluttered” habitats. This empirical test of theoretical predictions about optimal movement speeds in animals provides a step forward in understanding how animals select speeds in nature.

Greater agility increases probability of survival in the endangered northern quoll

Introduced predators combined with habitat loss and modification are threatening biodiversity worldwide, particularly the 'critical weight range' (CWR) mammals of Australia. In order to mitigate the impacts of invasive predators on native species in different landscapes, we must understand how the prey's morphology and performance determine their survival. Here, we evaluated how phenotypic traits related to escape performance predict the probability of survival for an endangered CWR mammal, the northern quoll (Dasyurus hallucatus). We measured mass, body size, body shape, body condition and age, as well as maximum sprint speed, acceleration and agility of female quolls over two consecutive years. Those with higher body condition and agility around a 135 deg corner were more likely to survive their first 21 months of life but were not more likely to survive after this period. No other morphological or performance traits affected survival. Heavier second-year individuals were more agile than first years but second years experienced higher mortality rates throughout the year. Females with higher body condition and agility around a 135 deg corner tended to have shorter limbs and feet but longer heads. Our findings suggest that higher body condition and agility are advantageous for survival in female northern quolls. These results can be used to develop predictive models of predator-prey interactions based on performance capacity and how performance is affected by habitat, aiding conservation efforts to predict and manage the impact of introduced predators on native species.

Modeling escape success in terrestrial predator–prey interactions

Prey species often modify their foraging and reproductive behaviors to avoid encounters with predators; yet once they are detected, survival depends on out-running, out-maneuvering, or fighting off the predator. Though predation attempts involve at least two individuals—namely, a predator and its prey—studies of escape performance typically measure a single trait (e.g., sprint speed) in the prey species only. Here, we develop a theoretical model in which the likelihood of escape is determined by the prey animal’s tactics (i.e., path trajectory) and its acceleration, top speed, agility, and deceleration relative to the performance capabilities of a predator. The model shows that acceleration, top speed, and agility are all important determinants of escape performance, and because speed and agility are biomechanically related to size, smaller prey with higher agility should force larger predators to run along curved paths that do not allow them to use their superior speeds. Our simulations provide clear predictions for the path and speed a prey animal should choose when escaping from predators of different sizes (thus, biomechanical constraints) and could be used to explore the dynamics between predators and prey.

The dicey dinner dilemma: Asymmetry in predator-prey risk-taking, a broadly applicable alternative to the life-dinner principle

Forty years ago, the 'life-dinner principle' was proposed as an example of an asymmetry that may lead prey species to experience stronger selection than their predators, thus accounting for the high frequency with which prey escape alive from interaction with a predator. This principle remains an influential concept in the scientific literature, despite several works suggesting that the concept relies on many under-appreciated assumptions and does not apply as generally as was initially proposed. Here, we present a novel model describing a very different asymmetry to that proposed in the life-dinner principle, but one that could apply broadly. We argue that asymmetries between the relative costs and benefits to predators and prey of selecting a risky behaviour during an extended predator-prey encounter could lead to an enhanced likelihood of escape for the prey. Any resulting advantage to prey depends upon there being a behaviour or choice that introduces some inherent danger to both predator and prey if they adopt it, but which if the prey adopts the predator must match in order to have a chance of successful predation. We suggest that the circumstances indicated by our model could apply broadly across diverse taxa, including both risky spatial or behavioural choices.

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.

Quantifying koala locomotion strategies: implications for the evolution of arborealism in marsupials

The morphology and locomotor performance of a species can determine their inherent fitness within a habitat type. Koalas have an unusual morphology for marsupials, with several key adaptations suggested to increase stability in arboreal environments. We quantified the kinematics of their movement over ground and along narrow arboreal trackways to determine the extent to which their locomotion resembled that of primates, occupying similar niches, or basal marsupials from which they evolved. On the ground, the locomotion of koalas resembled a combination of marsupial behaviours and primate-like mechanics. For example, their fastest strides were bounding type gaits with a top speed of 2.78 m s^-1 (mean 1.20 m s^-1), resembling marsupials, while the relatively longer stride length was reflective of primate locomotion. Speed was increased using equal modification of stride length and frequency. On narrow substrates, koalas took longer but slower strides (mean 0.42 m s^-1), adopting diagonally coupled gaits including both lateral and diagonal sequence gaits, the latter being a strategy distinctive among arboreal primates. The use of diagonally coupled gaits in the arboreal environment is likely only possible because of the unique gripping hand morphology of both the fore and hind feet of koalas. These results suggest that during ground locomotion, they use marsupial-like strategies but alternate to primate-like strategies when moving amongst branches, maximising stability in these environments. The locomotion strategies of koalas provide key insights into an independent evolutionary branch for an arboreal specialist, highlighting how locomotor strategies can convergently evolve between distant lineages.

What makes motion dazzle markings effective against predation?

Motion dazzle markings comprise patterns such as stripes and zig-zags that are postulated to protect moving prey by making predators misjudge the prey’s speed or trajectory. Recent experiments have provided conflicting results on their effect on speed perception and attack success. We focus on motion dazzle stripes and investigate the influence of four parameters—stripe orientation, stripe contrast, target size, and target speed—on perceived speed and attack success using a common experimental paradigm involving human “predators” attacking virtual moving targets on a computer touchscreen. We found that high-contrast stripes running parallel or perpendicular to the direction of motion reduce attack success compared to conspicuous uniform targets. Surprisingly, parallel stripes induced underestimation of speed, while perpendicular stripes induced overestimation of speed in relation to uniform black, suggesting that misjudgment of speed per se is sufficient to reduce attack accuracy. Across all the experiments, we found some support for parallel stripes inducing underestimation of target speed but these stripes reduced attack success only when targets were small, moved at an intermediate speed, and had high internal contrast. We suggest that prey features (e.g., size or speed) are an important determinant of capture success and that distortion of speed perception by a color pattern does not necessarily translate to reduced capture success of the prey. Overall, our results support the idea that striped patterns in prey animals can reduce capture in motion but are effective under a limited set of conditions.

Cognitive Control of Escape Behaviour

When faced with potential predators, animals instinctively decide whether there is a threat they should escape from, and also when, how, and where to take evasive action. While escape is often viewed in classical ethology as an action that is released upon presentation of specific stimuli, successful and adaptive escape behaviour relies on integrating information from sensory systems, stored knowledge, and internal states. From a neuroscience perspective, escape is an incredibly rich model that provides opportunities for investigating processes such as perceptual and value-based decision-making, or action selection, in an ethological setting. We review recent research from laboratory and field studies that explore, at the behavioural and mechanistic levels, how elements from multiple information streams are integrated to generate flexible escape behaviour.

Long-term exposure to higher temperature increases the thermal sensitivity of grazer metabolism and movement

Ecological studies of global warming impacts have many constraints. Organisms are often exposed to higher temperatures for short periods of time, probably underestimating their ability to acclimate or adapt relative to slower but real rates of warming. Many studies also focus on a limited number of traits and miss the multifaceted effects that warming may have on organisms, from physiology to behaviour. Organisms exhibit different movement traits, some of which are primarily driven by metabolic processes and others by decision-making, which should influence the extent to which temperature affects them. We collected snails from streams that have been differentially heated by geothermal activity for decades to determine how long-term exposure to different temperatures affected their metabolism and movement. Additionally, we collected snails from a cold stream (5°C) and measured their metabolism and movement at higher temperatures (short-term exposure). We used respirometry to measure metabolic rates and automated in situ image-based tracking to quantify several movement traits from 5 to 21°C. Long-term exposure to higher temperatures resulted in a greater thermal sensitivity of metabolic rate compared to snails exposed for short durations, highlighting the need for caution when conducting acute temperature exposures in global warming research. Average speed, which is largely driven by metabolism, also increased more with temperature for long-term exposure compared to short-term exposure. Movement traits we interpret as more decision-based, such as time spent moving and trajectory shape, were less affected by temperature. Step length increased and step angle decreased at higher temperatures for both long- and short-term exposure, resulting in overall straighter trajectories. The power-law exponent of the step length distributions and fractal dimension of trajectories were independent of temperature, however, suggesting that snails retained the same movement strategy. The observed changes in snail movement at higher temperatures should lead to higher encounter rates and more efficient searching, providing a behavioural mechanism for stronger plant-herbivore interactions in warmer environments. Our research is among the first to show that temperature has contrasting effects on different movement traits, which may be determined by the metabolic contribution to those behaviours.

Moving in complex environments: a biomechanical analysis of locomotion on inclined and narrow substrates

Characterisation of an organism's performance in different habitats provides insight into the conditions that allow it to survive and reproduce. In recent years, Northern quolls (Dasyurus hallucatus)—a medium-sized semi-arboreal marsupial native to northern Australia—have undergone significant population declines within open forest, woodland and riparian habitats, but less so in rocky areas. To help understand this decline, we quantified the biomechanical performance of wild Northern quolls as they ran up inclined narrow (13 mm pole) and inclined wide (90 mm platform) substrates. We predicted that quolls may possess biomechanical adaptations to increase stability on narrow surfaces, which are more common in rocky habitats. Our results display that quolls have some biomechanical characteristics consistent with a stability advantage on narrow surfaces. This includes the coupled use of limb pairs, as indicated via a decrease in footfall time, and an ability to produce corrective torques to counteract the toppling moments commonly encountered during gait on narrow surfaces. However, speed was constrained on narrow surfaces, and quolls did not adopt diagonal sequence gaits unlike true arboreal specialists such as primates. In comparison with key predators, such as cats and dogs, Northern quolls appear inferior in terrestrial environments but have a stability advantage at higher speeds on narrow supports. This may partially explain the heterogenous declines in Northern quoll populations among various habitats on mainland Australia.

Coordinated Turning Behaviour of Loitering Honeybees

Turning during flight is a complex behaviour that requires coordination to ensure that the resulting centrifugal force is never large enough to disrupt the intended turning trajectory. The centrifugal force during a turn increases with the curvature (sharpness) of the turn, as well as the speed of flight. Consequently, sharp turns would require lower flight speeds, in order to limit the centrifugal force to a manageable level and prevent unwanted sideslips. We have video-filmed honeybees flying near a hive entrance when the entrance is temporarily blocked. A 3D reconstruction and analysis of the flight trajectories executed during this loitering behaviour reveals that sharper turns are indeed executed at lower speeds. During a turn, the flight speed is matched to the curvature, moment to moment, in such a way as to maintain the centrifugal force at an approximately constant, low level of about 30% of the body weight, irrespective of the instantaneous speed or curvature of the turn. This ensures that turns are well coordinated, with few or no sideslips - as it is evident from analysis of other properties of the flight trajectories.

Manganese contamination affects the motor performance of wild northern quolls (Dasyurus hallucatus)

Neuromotor deficits are an important sign of manganese (Mn) toxicity in humans and laboratory animals. However, the impacts of Mn exposure on the motor function of wild animals remains largely unknown. Here, we assessed the impact of chronic exposure to Mn from active mining operations on Groote Eylandt, Australia on the motor function of the semi-arboreal northern quoll (Dasyurus hallucatus), an endangered species. The three motor tests conducted-maximum sprint speed on a straight run, manoeuvrability around a corner, and motor control on a balance beam-showed that elevated Mn body burden did not diminish performance of these traits. However, quolls with higher Mn body burden approached a corner at a significantly narrower range of speeds, due to a significantly lower maximum approach speed. Slower speeds approaching a turn may reduce success at catching prey and avoiding predators. Given that maximum sprint speed on a straight run was not affected by Mn body burden, but maximum speed entering a corner was, slower speeds approaching a turn may reflect compensation for otherwise impaired performance in the turn.

The Physiology of Exercise in Free-Living Vertebrates: What Can We Learn from Current Model Systems?

SYNOPSIS

Many behaviors crucial for survival and reproductive success in free-living animals, including migration, foraging, and escaping from predators, involve elevated levels of physical activity. However, although there has been considerable interest in the physiological and biomechanical mechanisms that underpin individual variation in exercise performance, to date, much work on the physiology of exercise has been conducted in laboratory settings that are often quite removed from the animal's ecology. Here we review current, laboratory-based model systems for exercise (wind or swim tunnels for migration studies in birds and fishes, manipulation of exercise associated with non-migratory activity in birds, locomotion in lizards, and wheel running in rodents) to identify common physiological markers of individual variation in exercise capacity and/or costs of increased activity. Secondly, we consider how physiological responses to exercise might be influenced by (1) the nature of the activity (i.e., voluntary or involuntary, intensity, and duration), and (2) resource acquisition and food availability, in the context of routine activities in free-living animals. Finally, we consider evidence that the physiological effects of experimentally-elevated activity directly affect components of fitness such as reproduction and survival. We suggest that developing more ecologically realistic laboratory systems, incorporating resource-acquisition, functional studies across multiple physiological systems, and a life-history framework, with reproduction and survival end-points, will help reveal the mechanisms underlying the consequences of exercise, and will complement studies in free-living animals taking advantage of new developments in wildlife-tracking.

Healthy individuals are more maneuverable when walking slower while navigating a virtual obstacle course

INTRODUCTION

Maintaining stability, especially in the mediolateral direction, is important for successful walking. Navigating in the community, however, may require people to reduce stability to make quick lateral transitions, creating a tradeoff between stability and maneuverability. Walking slower can improve stability during steady state walking, but there remains a need to better understand how walking speed influences maneuverability. This study investigated how walking at different speeds influenced how individuals modulate both stability and maneuverability in a virtual obstacle course.

METHODS

Fifteen healthy adults walked on a treadmill in a virtual environment for 6 trials each at typical and slower speed. Participants made repeated transitions between virtual sets of arches displayed in any of 4 lanes. Participants were instructed to walk under the arches and hit as few arches as possible. To quantify stability, mean step width and mean lateral margin of stability (Mean MOS) were calculated and averaged for ipsilateral and contralateral steps. To quantify maneuverability, the number of arches hit when entering or exiting each arch set was calculated and averaged for each condition.

RESULTS

Participants exhibited high levels of variability in their stepping patterns. Mean MOS and mean step width were significantly greater for the typical speed than slower speed for the ipsilateral steps (p < 0.001). Participants hit more arches during the typical speed than during the slow speed (p = 0.039).

CONCLUSION

When walking at the slower speed, healthy individuals exhibited decreased stability of ipsilateral steps, but increased maneuverability and better transition performance.

Transition by head-on collision: mechanically mediated manoeuvres in cockroaches and small robots

Exceptional performance is often considered to be elegant and free of 'errors' or missteps. During the most extreme escape behaviours, neural control can approach or exceed its operating limits in response time and bandwidth. Here we show that small, rapid running cockroaches with robust exoskeletons select head-on collisions with obstacles to maintain the fastest escape speeds possible to transition up a vertical wall. Instead of avoidance, animals use their passive body shape and compliance to negotiate challenging environments. Cockroaches running at over 1 m or 50 body lengths per second transition from the floor to a vertical wall within 75 ms by using their head like an automobile bumper, mechanically mediating the manoeuvre. Inspired by the animal's behaviour, we demonstrate a passive, high-speed, mechanically mediated vertical transitions with a small, palm-sized legged robot. By creating a collision model for animal and human materials, we suggest a size dependence favouring mechanical mediation below 1 kg that we term the 'Haldane limit'. Relying on the mechanical control offered by soft exoskeletons represents a paradigm shift for understanding the control of small animals and the next generation of running, climbing and flying robots where the use of the body can off-load the demand for rapid sensing and actuation.

Biomechanics of predator-prey arms race in lion, zebra, cheetah and impala

The fastest and most manoeuvrable terrestrial animals are found in savannah habitats, where predators chase and capture running prey. Hunt outcome and success rate are critical to survival, so both predator and prey should evolve to be faster and/or more manoeuvrable. Here we compare locomotor characteristics in two pursuit predator-prey pairs, lion-zebra and cheetah-impala, in their natural savannah habitat in Botswana. We show that although cheetahs and impalas were universally more athletic than lions and zebras in terms of speed, acceleration and turning, within each predator-prey pair, the predators had 20% higher muscle fibre power than prey, 37% greater acceleration and 72% greater deceleration capacity than their prey. We simulated hunt dynamics with these data and showed that hunts at lower speeds enable prey to use their maximum manoeuvring capacity and favour prey survival, and that the predator needs to be more athletic than its prey to sustain a viable success rate.

Surface friction alters the agility of a small Australian marsupial

Movement speed can underpin an animal's probability of success in ecological tasks. Prey often use agility to outmanoeuvre predators, however faster speeds increase inertia and reduce agility. Agility is also constrained by grip, as the foot must have sufficient friction with the ground to apply the forces required for turning. Consequently, ground surface should affect optimum turning speed. We tested the speed-agility trade-off in buff-footed antechinus (Antechinus mysticus) on two different surfaces. Antechinus used slower turning speeds over smaller turning radii on both surfaces, as predicted by the speed-agility trade-off. Slipping was 64% more likely on the low-friction surface, and had a higher probability of occurring the faster the antechinus were running before the turn. However, antechinus compensated for differences in surface friction by using slower pre-turn speeds as their amount of experience on the low-friction surface increased, which consequently reduced their probability of slipping. Conversely, on the high-friction surface, antechinus used faster pre-turn speeds in later trials, which had no effect on their probability of slipping. Overall, antechinus used larger turning radii (0.733 ± 0.062 vs 0.576 ± 0.051 m) and slower pre-turn (1.595 ± 0.058 vs 2.174 ± 0.050 ms-1) and turning speeds (1.649 ± 0.061 vs 2.01 ± 0.054 ms-1) on the low-friction surface. Our results demonstrate the interactive effect of surface friction and the speed-agility trade-off on speed choice. To predict wild animals’ movement speeds, future studies should examine the interactions between biomechanical trade-offs and terrain, and quantify the costs of motor mistakes in different ecological activities.

Skill not athleticism predicts individual variation in match performance of soccer players

Just as evolutionary biologists endeavour to link phenotypes to fitness, sport scientists try to identify traits that determine athlete success. Both disciplines would benefit from collaboration, and to illustrate this, we used an analytical approach common to evolutionary biology to isolate the phenotypes that promote success in soccer, a complex activity of humans played in nearly every modern society. Using path analysis, we quantified the relationships among morphology, balance, skill, athleticism and performance of soccer players. We focused on performance in two complex motor activities: a simple game of soccer tennis (1 on 1), and a standard soccer match (11 on 11). In both contests, players with greater skill and balance were more likely to perform better. However, maximal athletic ability was not associated with success in a game. A social network analysis revealed that skill also predicted movement. The relationships between phenotypes and success during individual and team sports have potential implications for how selection acts on these phenotypes, in humans and other species, and thus should ultimately interest evolutionary biologists. Hence, we propose a field of evolutionary sports science that lies at the nexus of evolutionary biology and sports science. This would allow biologists to take advantage of the staggering quantity of data on performance in sporting events to answer evolutionary questions that are more difficult to answer for other species. In return, sports scientists could benefit from the theoretical framework developed to study natural selection in non-human species.

Individuals of the common Namib Day Gecko vary in how adaptive simplification alters sprint biomechanics

Locomotion inextricably links biomechanics to ecology as animals maneuver through mechanically challenging environments. Faster individuals are more likely to escape predators, surviving to produce more offspring. Fast sprint speed evolved several times in lizards, including geckos. However, the underlying mechanisms determining performance await discovery in many clades. Novel morphological structures influence these mechanisms by adding complexity to the government of locomotion. Gecko adhesion coevolves with modified muscles, tendons, and reflexes. We explored how the Namib Day Gecko, Rhoptropus afer, sprints on ecologically relevant substrates. Locomotion requires that many moving parts of the animal work together; we found knee and ankle extension are the principal drivers of speed on a level surface while contributions to sprinting uphill are more evenly distributed among motions of the femur, knee, and ankle. Although geckos are thought to propel themselves with specialized, proximally located muscles that retract and rotate the femur, we show with path analysis that locomotion is altered in this secondarily terrestrial gecko. We present evidence of intraspecific variation in the use of adhesive toe pads and suggest that the subdigital adhesive toe pad may increase sprint speed in this species. We argue kinematics coevolve with the secondarily terrestrial lifestyle of this species.