Propulsion in hexapod locomotion: how do desert ants traverse slopes?

The thoracic anatomy of Pselaphus heisei (Pselaphinae, Staphylinidae, Coleoptera)

We document external and internal thoracic structures of the free-living pselaphine beetle Pselaphus heisei (Pselaphitae) using a set of traditional and modern techniques. Like in the specialized myrmecophile Claviger testaceus (Clavigeritae), the skeletal elements of the pro- and pterothorax are highly compact, with largely reduced inter- and intrasegmental sutures. Features previously listed as synapomorphies of staphylinid subgroups, to which Pselaphinae belong, are confirmed for P. heisei. The only previously proposed thoracic synapomorphy of Pselaphinae, the mesoventral foveae, is likely transformed in P. heisei: we assume that the concavities are directed mesad and internally fused, thus forming a broad channel ("perforation") extending through the keel-like median region of the mesoventrite. The prothoracic foveal system is strongly reduced, with only one pair of pits present in front of the procoxae. Their internal invaginations form a transverse ventral endoskeletal bar that stabilizes the prothorax. The condition observed in the free-living P. heisei is in contrast with previous hypotheses linking the reduction of the foveal system with myrmecophily. Moreover, traces of the mesoventral foveae are even preserved in the highly specialized inquiline C. testaceus. Gland cells are associated with areas of hyaline squamose setae on different body regions, suggesting release of secretions on the ventral side of the head, pro- and mesothorax, and abdominal base. Similar specialized setal patches are common in Pselaphini and related groups within Pselaphitae. The prothoracic musculature in P. heisei is more complex than that in the myrmecophilous C. testaceus and the free-living, unspecialized Creophilus maxillosus (Staphylininae). The metathoracic muscle system is strongly simplified, demonstrating that P. heisei cannot fly, even though wings, some skeletal elements of the flight apparatus, and some small direct flight muscles are preserved. It cannot be fully excluded that indirect flight muscles and thus a functional flight apparatus is preserved in a certain percentage of individuals.

MEMS-Based Micro Sensors for Measuring the Tiny Forces Acting on Insects

Small insects perform agile locomotion, such as running, jumping, and flying. Recently, many robots, inspired by such insect performance, have been developed and are expected to be smaller and more maneuverable than conventional robots. For the development of insect-inspired robots, understanding the mechanical dynamics of the target insect is important. However, evaluating the dynamics via conventional commercialized force sensors is difficult because the exerted force and insect itself are tiny in strength and size. Here, we review force sensor devices, especially fabricated for measuring the tiny forces acting on insects during locomotion. As the force sensor, micro-force plates for measuring the ground reaction force and micro-force probes for measuring the flying force have mainly been developed. In addition, many such sensors have been fabricated via a microelectromechanical system (MEMS) process, due to the process precision and high sensitivity. In this review, we focus on the sensing principle, design guide, fabrication process, and measurement method of each sensor, as well as the technical challenges in each method. Finally, the common process flow of the development of specialized MEMS sensors is briefly discussed.

Cockroaches adjust body and appendages to traverse cluttered large obstacles

To traverse complex terrain, animals often transition between locomotor modes. It is well-known that locomotor transitions can be induced by switching in neural control circuits or driven by a need to minimize metabolic energetic cost. Recent work discovered that locomotor transitions in complex 3-D terrain cluttered with large obstacles can emerge from physical interaction with the environment controlled by the nervous system. For example, to traverse cluttered, stiff grass-like beams, the discoid cockroach often transitions from using a strenuous pitch mode pushing across to using a less strenuous roll mode rolling into and through the gaps, and this transition requires overcoming a potential energy barrier. Previous robotic physical modeling demonstrated that kinetic energy fluctuation of body oscillation from self-propulsion can help overcome the barrier and facilitate this transition. However, the animal was observed to transition even when the barrier still exceeded kinetic energy fluctuation. Here, we further studied whether and how the cockroach makes active adjustments to facilitate this transition to traverse cluttered beams. The animal repeatedly flexed its head and abdomen, reduced hind leg sprawl, and depressed one hind leg and elevated the other during the pitch-to-roll transition, which were absent when running on a flat ground. Using a refined potential energy landscape with additional degrees of freedom to model these adjustments, we found that head flexion did not substantially reduce the transition barrier, whereas leg sprawl reduction did so dramatically. We speculate that head flexion is for sensing the terrain to guide the transition via sensory feedback control.

Kinematic Modeling at the Ant Scale: Propagation of Model Parameter Uncertainties

Quadrupeds and hexapods are known by their ability to adapt their locomotive patterns to their functions in the environment. Computational modeling of animal movement can help to better understand the emergence of locomotive patterns and their body dynamics. Although considerable progress has been made in this subject in recent years, the strengths and limitations of kinematic simulations at the scale of small moving animals are not well understood. In response to this, this work evaluated the effects of modeling uncertainties on kinematic simulations at small scale. In order to do so, a multibody model of a Messor barbarus ant was developed. The model was built from 3D scans coming from X-ray micro-computed tomography. Joint geometrical parameters were estimated from the articular surfaces of the exoskeleton. Kinematic data of a free walking ant was acquired using high-speed synchronized video cameras. Spatial coordinates of 49 virtual markers were used to run inverse kinematics simulations using the OpenSim software. The sensitivity of the model’s predictions to joint geometrical parameters and marker position uncertainties was evaluated by means of two Monte Carlo simulations. The developed model was four times more sensitive to perturbations on marker position than those of the joint geometrical parameters. These results are of interest for locomotion studies of small quadrupeds, octopods, and other multi-legged animals.

Comparative analysis of a geometric and an adhesive righting strategy against toppling in inclined hexapedal locomotion

Animals are known to exhibit different walking behaviors in hilly habitats. For instance, cats, rats, squirrels, tree frogs, desert iguana, stick insects and desert ants were observed to lower their body height when traversing slopes, whereas mound-dwelling iguanas and wood ants tend to maintain constant walking kinematics regardless of the slope. This paper aims to understand and classify these distinct behaviors into two different strategies against toppling for climbing animals by looking into two factors: (i) the torque of the center of gravity (CoG) with respect to the critical tipping axis, and (ii) the torque of the legs, which has the potential to counterbalance the CoG torque. Our comparative locomotion analysis on level locomotion and inclined locomotion exhibited that primarily only one of the proposed two strategies was chosen for each of our sample species, despite the fact that a combined strategy could have reduced the animal's risk of toppling over even more. We found that Cataglyphis desert ants (species Cataglyphis fortis) maintained their upright posture primarily through the adjustment of their CoG torque (geometric strategy), and Formica wood ants (species Formica rufa), controlled their posture primarily by exerting leg torques (adhesive strategy). We further provide hints that the geometric strategy employed by Cataglyphis could increase the risk of slipping on slopes as the leg-impulse substrate angle of Cataglyphis hindlegs was lower than that of Formica hindlegs. In contrast, the adhesion strategy employed by Formica front legs not only decreased the risk of toppling but also explained the steeper leg-impulse substrate angle of Formica hindlegs which should relate to more bending of the tarsal structures and therefore to more microscopic contact points, potentially reducing the risk of hindleg slipping.

Measuring strain in the exoskeleton of spiders-virtues and caveats

The measurement of cuticular strain during locomotion using foil strain gauges provides information both on the loads of the exoskeleton bears and the adaptive value of the specific location of natural strain detectors (slit sense organs). Here, we critically review available literature. In tethered animals, by applying loads to the metatarsus tip, strain and mechanical sensitivity (S = strain/load) induced at various sites in the tibia were determined. The loci of the lyriform organs close to the tibia-metatarsus joint did not stand out by high strain. The strains induced at various sites during free locomotion can be interpreted based on S and, beyond the joint region, on beam theory. Spiders avoided laterad loading of the tibia-metatarsus joint during slow locomotion. Balancing body weight, joint flexors caused compressive strain at the posterior and dorsal tibia. While climbing upside down strain measurements indicate strong flexor activity. In future studies, a precise calculation and quantitative determination of strain at the sites of the lyriform organs will profit from more detailed data on the overall strain distribution, morphology, and material properties. The values and caveats of the strain gauge technology, the only one applicable to freely moving spiders, are discussed.

Dynamics of locomotion in the seed harvesting ant Messor barbarus: effect of individual body mass and transported load mass

Ants are well-known for their amazing load carriage performances. Yet, the biomechanics of locomotion during load transport in these insects has so far been poorly investigated. Here, we present a study of the biomechanics of unloaded and loaded locomotion in the polymorphic seed-harvesting ant Messor barbarus (Linnaeus, 1767). This species is characterized by a strong intra-colonial size polymorphism with allometric relationships between the different body parts of the workers. In particular, big ants have much larger heads relative to their size than small ants. Their center of mass is thus shifted forward and even more so when they are carrying a load in their mandibles. We investigated the dynamics of the ant center of mass during unloaded and loaded locomotion. We found that during both unloaded and loaded locomotion, the kinetic energy and gravitational potential energy of the ant center of mass are in phase, which is in agreement with what has been described by other authors as a grounded-running gait. During unloaded locomotion, small and big ants do not display the same posture. However, they expend the same amount of mechanical energy to raise and accelerate their center of mass per unit of distance and per unit of body mass. While carrying a load, compared to the unloaded situation, ants seem to modify their locomotion gradually with increasing load mass. Therefore, loaded and unloaded locomotion do not involve discrete types of gait. Moreover, small ants carrying small loads expend less mechanical energy per unit of distance and per unit of body mass and their locomotion thus seem more mechanically efficient.

A new insect trackway from the Upper Jurassic-Lower Cretaceous eolian sandstones of São Paulo State, Brazil: implications for reconstructing desert paleoecology

The new ichnospecies Paleohelcura araraquarensis isp. nov. is described from the Upper Jurassic-Lower Cretaceous Botucatu Formation of Brazil. This formation records a gigantic eolian sand sea (erg), formed under an arid climate in the south-central part of Gondwana. This trackway is composed of two track rows, whose internal width is less than one-quarter of the external width, with alternating to staggered series, consisting of three elliptical tracks that can vary from slightly elongated to tapered or circular. The trackways were found in yellowish/reddish sandstone in a quarry in the Araraquara municipality, São Paulo State. Comparisons with neoichnological studies and morphological inferences indicate that the producer of Paleohelcura araraquarensis isp. nov. was most likely a pterygote insect, and so could have fulfilled one of the ecological roles that different species of this group are capable of performing in dune deserts. The producer could have had a herbivorous or carnivorous diet or been part of the fauna of omnivores, being able to adopt herbivorous, carnivorous, and saprophagous diets when necessary. In modern dune deserts, some species of pterygote insects are detritivores (like Tenebrionidae), relying on organic matter that accumulated among the sand grains of the dunes during dry periods with no plant growth. The presence of additional burrows suggests that the Botucatu paleodesert would have had a detritivorous fauna like this. Based on the interpretation of the ichnofossil producers, it was possible to reconstruct the food web of this paleodesert. All the omnivorous and herbivorous invertebrates and the herbivorous ornithopod dinosaurs made up the primary consumers. These animals were, in turn, the food source for bigger carnivorous or omnivorous animals unable to feed on detritus, like arachnids, possible predatory insects, mammaliaforms, and theropod dinosaurs. The highest trophic level was occupied by larger theropod dinosaurs and mammaliaforms, which, because of their size, could prey upon a wide range of animals. The producer of Paleohelcura araraquarensis isp. nov. could have been a primary consumer if it were an omnivorous detritivore or a herbivore, or a secondary consumer if it were produced by a predatory insect or an omnivore relying on animal biomass. The description of this new trackway expands the knowledge on the faunal composition of the Botucatu paleodesert and provides insights into the ecological relationships in ancient deserts. The presence of these arthropod trackways in Mesozoic eolian deposits helps to trace a continuity between Paleozoic and post-Paleozoic desert ichnofaunas, further reinforcing a single Octopodichnus-Entradichnus Ichnofacies for eolian deposits.

A size principle for recruitment of Drosophila leg motor neurons

To move the body, the brain must precisely coordinate patterns of activity among diverse populations of motor neurons. Here, we use in vivo calcium imaging, electrophysiology, and behavior to understand how genetically-identified motor neurons control flexion of the fruit fly tibia. We find that leg motor neurons exhibit a coordinated gradient of anatomical, physiological, and functional properties. Large, fast motor neurons control high force, ballistic movements while small, slow motor neurons control low force, postural movements. Intermediate neurons fall between these two extremes. This hierarchical organization resembles the size principle, first proposed as a mechanism for establishing recruitment order among vertebrate motor neurons. Recordings in behaving flies confirmed that motor neurons are typically recruited in order from slow to fast. However, we also find that fast, intermediate, and slow motor neurons receive distinct proprioceptive feedback signals, suggesting that the size principle is not the only mechanism that dictates motor neuron recruitment. Overall, this work reveals the functional organization of the fly leg motor system and establishes Drosophila as a tractable system for investigating neural mechanisms of limb motor control.

Path integration in a three-dimensional world: the case of desert ants

Desert ants use path integration to return from foraging excursions on a shortcut way to their nests. Intriguingly, when walking over hills, the ants incorporate the ground distance, the paths’ projection to the horizontal plane, into their path integrator. This review discusses how Cataglyphis may solve this computational feat. To infer ground distance, ants must incorporate the inclination of path segments into the assessment of distance. Hair fields between various joints have been eliminated as likely sensors for slope measurement, without affecting slope detection; nor do postural adaptations or changes in gait provide the relevant information. Changes in the sky’s polarization pattern due to different head inclinations on slopes were ruled out as cues. Thus, the mechanisms by which ants may measure slopes still await clarification. Remarkably, the precision of slope measurement is roughly constant up to a 45° inclination, but breaks down at 60°. An encounter of sloped path segments during a foraging trip induces a general acceptance of slopes, however, slopes are not associated with specific values of the home vector. All current evidence suggests that Cataglyphis does not compute a vector in 3-D: path integration seems to operate exclusively in the horizontal plane.

Walking kinematics in the polymorphic seed harvester ant Messor barbarus: influence of body size and load carriage

Ants are famous in the animal kingdom for their amazing load-carrying performance. Yet, the mechanisms that allow these insects to maintain their stability when carrying heavy loads have been poorly investigated. Here, we present a study of the kinematics of unloaded and loaded locomotion in the polymorphic seed-harvesting ant Messor barbarus In this species, large ants have larger heads relative to their size than small ants. Hence, their center of mass is shifted forward, and even more so when they are carrying a load in their mandibles. We tested the hypothesis that this could lead to large ants being less statically stable than small ants, thus explaining their lower load-carrying ability. We found that large ants were indeed less statically stable than small ants when walking unloaded, but they were nonetheless able to adjust their stepping pattern to partly compensate for this instability. When ants were walking loaded on the other hand, there was no evidence of different locomotor behaviors in individuals of different sizes. Loaded ants, whatever their size, move too slowly to maintain their balance through dynamic stability. Rather, they seem to do so by clinging to the ground with their hind legs during part of a stride. We show through a straightforward model that allometric relationships have a minor role in explaining the differences in load-carrying ability between large ants and small ants, and that a simple scale effect is sufficient to explain these differences.

Dynamic biological adhesion: mechanisms for controlling attachment during locomotion

The rapid control of surface attachment is a key feature of natural adhesive systems used for locomotion, and a property highly desirable for man-made adhesives. Here, we describe the challenges of adhesion control and the timescales involved across diverse biological attachment systems and different adhesive mechanisms. The most widespread control principle for dynamic surface attachment in climbing animals is that adhesion is 'shear-sensitive' (directional): pulling adhesive pads towards the body results in strong attachment, whereas pushing them away from it leads to easy detachment, providing a rapid mechanical 'switch'. Shear-sensitivity is based on changes of contact area and adhesive strength, which in turn arise from non-adhesive default positions, the mechanics of peeling, pad sliding, and the targeted storage and controlled release of elastic strain energy. The control of adhesion via shear forces is deeply integrated with the climbing animals' anatomy and locomotion, and involves both active neuromuscular control, and rapid passive responses of sophisticated mechanical systems. The resulting dynamic adhesive systems are robust, reliable, versatile and nevertheless remarkably simple. This article is part of the theme issue 'Transdisciplinary approaches to the study of adhesion and adhesives in biological systems'.

Kinematics of male Eupalaestrus weijenberghi (Araneae, Theraphosidae) locomotion on different substrates and inclines

BACKGROUND

The mechanics and energetics of spider locomotion have not been deeply investigated, despite their importance in the life of a spider. For example, the reproductive success of males of several species is dependent upon their ability to move from one area to another. The aim of this work was to describe gait patterns and analyze the gait parameters of Eupalaestrus weijenberghi (Araneae, Theraphosidae) in order to investigate the mechanics of their locomotion and the mechanisms by which they conserve energy while traversing different inclinations and surfaces.

METHODS

Tarantulas were collected and marked for kinematic analysis. Free displacements, both level and on an incline, were recorded using glass and Teflon as experimental surfaces. Body segments of the experimental animals were measured, weighed, and their center of mass was experimentally determined. Through reconstruction of the trajectories of the body segments, we were able to estimate their internal and external mechanical work and analyze their gait patterns.

RESULTS

Spiders mainly employed a walk-trot gait. Significant differences between the first two pairs and the second two pairs were detected. No significant differences were detected regarding the different planes or surfaces with respect to duty factor, time lags, stride frequency, and stride length. However, postural changes were observed on slippery surfaces. The mechanical work required for traversing a level plane was lower than expected. In all conditions, the external work, and within it the vertical work, accounted for almost all of the total mechanical work. The internal work was extremely low and did not rise as the gradient increased.

DISCUSSION

Our results support the idea of considering the eight limbs functionally divided into two quadrupeds in series. The anterior was composed of the first two pairs of limbs, which have an explorative and steering purpose and the posterior was more involved in supporting the weight of the body. The mechanical work to move one unit of mass a unit distance is almost constant among the different species tested. However, spiders showed lower values than expected. Minimizing the mechanical work could help to limit metabolic energy expenditure that, in small animals, is relatively very high. However, energy recovery due to inverted pendulum mechanics only accounts for only a small fraction of the energy saved. Adhesive setae present in the tarsal, scopulae, and claw tufts could contribute in different ways during different moments of the step cycle, compensating for part of the energetic cost on gradients which could also help to maintain constant gait parameters.

Venus flytrap trigger hairs are micronewton mechano-sensors that can detect small insect prey

Venus flytraps detect moving insects via highly sensitive, action potential (AP)-producing trigger hairs, which act as high-sensitivity levers, crucial for prey capture and digestion. Controlled stimulation revealed that they can trigger APs for deflections >2.9°, angular velocities >3.4° s^-1 and forces >29 µN. Hairs became desensitized and subsequently responded to fast consecutive stimulations; desensitization increased at lower temperatures. Recording of ant trigger hair contact events revealed that even small insects exceed the hairs' sensitivity threshold.

Motor control of an insect leg during level and incline walking

During walking, the leg motor system must continually adjust to changes in mechanical conditions, such as the inclination of the ground. To understand the underlying control, it is important to know how changes in leg muscle activity relate to leg kinematics (movements) and leg dynamics (forces, torques). Here, we studied these parameters in hindlegs of stick insects (Carausius morosus) during level and uphill/downhill (±45 deg) walking, using a combination of electromyography, 3D motion capture and ground reaction force measurements. We find that some kinematic parameters including leg joint angles and body height vary across walking conditions. However, kinematics vary little compared with dynamics: horizontal leg forces and torques at the thorax-coxa joint (leg protraction/retraction) and femur-tibia joint (leg flexion/extension) tend to be stronger during uphill walking and are reversed in sign during downhill walking. At the thorax-coxa joint, the different mechanical demands are met by adjustments in the timing and magnitude of antagonistic muscle activity. Adjustments occur primarily in the first half of stance after the touch-down of the leg. When insects transition from level to incline walking, the characteristic adjustments in muscle activity occur with the first step of the leg on the incline, but not in anticipation. Together, these findings indicate that stick insects adjust leg muscle activity on a step-by-step basis so as to maintain a similar kinematic pattern under different mechanical demands. The underlying control might rely primarily on feedback from leg proprioceptors signaling leg position and movement.

A Neuro-Musculo-Skeletal Model for Insects With Data-driven Optimization

Simulating the locomotion of insects is beneficial to many areas such as experimental biology, computer animation and robotics. This work proposes a neuro-musculo-skeletal model, which integrates the biological inspirations from real insects and reproduces the gait pattern on virtual insects. The neural system is a network of spiking neurons, whose spiking patterns are controlled by the input currents. The spiking pattern provides a uniform representation of sensory information, high-level commands and control strategy. The muscle models are designed following the characteristic Hill-type muscle with customized force-length and force-velocity relationships. The model parameters, including both the neural and muscular components, are optimized via an approach of evolutionary optimization, with the data captured from real insects. The results show that the simulated gait pattern, including joint trajectories, matches the experimental data collected from real ants walking in the free mode. The simulated character is capable of moving at different directions and traversing uneven terrains.