An upright life, the postural stability of birds: a tensegrity system

Birds are so stable that they can rest and even sleep standing up. We propose that stable static balance is achieved by tensegrity. The rigid bones can be held together by tension in the tendons, allowing the system to stabilize under the action of gravity. We used the proportions of the bird's osteomuscular system to create a mathematical model. First, the extensor muscles and tendons of the leg are replaced by a single cable that follows the leg and is guided by joint pulleys. Analysis of the model shows that it can achieve balance. However, it does not match the biomechanical characteristics of the bird's body and is not stable. We then replaced the single cable with four cables, roughly corresponding to the extensor groups, and added a ligament loop at the knee. The model is then able to reach a stable equilibrium and the biomechanical characteristics are satisfied. Some of the anatomical features used in our model correspond to innovations unique to the avian lineage. We propose that tensegrity, which allows light and stable mechanical systems, is fundamental to the evolution of the avian body plan. It can also be used as an alternative model for bipedal robots.

Correction to: A biaxial tensional model for early vertebrate morphogenesis

A Correction to this paper has been published: 10.1140/epje/s10189-022-00184-4

Radial porosity profiles: a new bone histological method for comparative developmental analysis of diametric limb bone growth

In fossil tetrapods, limb bone histology is considered the most reliable tool not only for inferring skeletal maturity-a crucial assessment in palaeobiological and evolutionary studies-but also for evaluating the growth dynamics within the ontogenetic window represented by the primary bone cortex. Due to its complex relationship with bone growth and functional maturation, primary cortical vascularity is an indispensable osteohistological character for reconstructing growth dynamics, especially in the context of various developmental strategies along the precocial-altricial spectrum. Using this concept as our working hypothesis, we developed a new quantitative osteohistological parameter, radial porosity profile (RPP), that captures relative cortical porosity changes in limb bones as trajectories. We built a proof-of-concept RPP dataset on extant birds, then added fossil paravian dinosaurs and performed a set of trajectory-grouping analyses to identify potential RPP categories and evaluate them in the context of our ontogeny-developmental strategy working hypothesis. We found that RPPs, indeed, reflect important developmental features within and across elements, specimens and taxa, supporting their analytical power. Our RPPs also revealed unexpected potential osteohistological correlates of growth and functional development of limb bones. The diverse potential applications of RPPs open up new research directions in the evolution of locomotor ontogeny.

A biaxial tensional model for early vertebrate morphogenesis

We propose a simple biaxial tensional model which is able to reproduce at a qualitative level several aspects of early stages of vertebrate morphogenesis. The model is based on subsequent excitable contractions of an orthoradial and periclinal (radial) set of contracting lines, which generate first the basic embryonic pattern (a motile tube), and second the lateral orifices such as ears, eyes, mouth, gills, etc. An important aspect of the model is the self-arresting character of the process, akin to wound healing. At later stages, the biaxial lines may also work in extension, and this generates a developmental feedback which is quadratic with respect to curvature.

Cranial kinesis facilitates quick retraction of stuck woodpecker beaks

Much like nails that are hammered into wood, the beaks of woodpeckers regularly get stuck upon impact. A kinematic video analysis of pecking by black woodpeckers shows how they manage to quickly withdraw their beaks, revealing a two-phase pattern: first a few degrees of nose-down rotation about the nasofrontal hinge causes the tip of the upper beak to be retruded while its proximal end is lifted. Next, the head is lifted, causing nose-up rotation about the nasofrontal hinge while the lower beak starts retruding and initiates the final freeing. We hypothesise that these consecutive actions, taking place in about 0.05 s, facilitate beak retraction by exploiting the presumably low frictional resistance between the upper and lower beak keratin surfaces, allowing them to slide past each other. It also demonstrates the counter-intuitive value of maintaining cranial kinesis in a species adapted to deliver forceful impacts.

Modeling intervertebral articulation: The rotule à doigt mechanical joint (RAD) in birds and mammals

The vertebrate skeleton is composed of articulated bones. Most of the articulations are classically described using mechanical joints, except the intervertebral joint. The aim of this study was to identify a joint model with the same mechanical features as the cervical joints. On the neck vertebrae, six articular surfaces participate in the joint: the cranial part of the centrum and the facets of the two prezygapophyses of a vertebra articulate on the caudal part of the centrum and the two articular facets of the postzygapophyses of the previous vertebra. We used the intervertebral joints of the birds neck to identify the mechanical joint representing intervertebral linkage. This link was described in the literature as a joint allowing two or three rotations and no translation. These features correspond to the rotule à doigt (RAD) joint, a ball and socket joint with a pin. We compared the RAD joint to the postaxial intervertebral joints of the avian neck and found it a suitable model to determine the geometrical features involved in the joint mobility. The difference in the angles of virtual axes linking the geometrical center of the centrum to the zygapophysis surfaces determines the mean dorsoventral flexion of the joint. It also helps to limit longitudinal rotation. The orientation of the zygapophysis surfaces determines the range of motion in both dorsoventral and lateral flexion. The overall system prevents dislocation. The model was validated on 13 joints of a vulture neck and 11 joints of a swallow neck and on one joint (C6-C7) in each of three mammal species: the wolf (Canis lupus), mole (Talpa europaea), and human (Homo sapiens). The RAD mechanical joint was found in all vertebral articulations. This validation of the model on different species shows that the RAD intervertebral joint model makes it possible to extract the parameters that guide and limit the mobility of the cervical spine from the complex shape of the vertebrae and to compare them in interspecific studies.

Estimating motion between avian vertebrae by contact modeling of joint surfaces

Estimating the motion between two bones is crucial for understanding their biomechanical function. The vertebral column is particularly challenging because the vertebrae articulate at more than one surface. This paper proposes a method to estimate 3D motion between two avian vertebrae, by bones surface reconstruction and contact modeling. The neck of birds was selected as a case study because it is a functionally highly versatile structure combining dexterity and strength. As such, it has great potential to serve as a source for bioinspired design, for robotic manipulators for instance. First, 3D models of the vertebrae are obtained by computed tomography (CT). Next, joint surfaces of contact are approximated with polynomial surfaces, and a system of equations derived from contact modeling between surfaces is established. A constrained optimization problem is defined in order to find the best position of the vertebrae for a set of given orientations in space. As a result, the possible intervertebral range of motion is estimated.

Second-order division in sectors as a prepattern for sensory organs in vertebrate development

We present in vivo observations of chicken embryo development which show that the early chicken embryo presents a principal structure made out of concentric rings and a secondary structure composed of radial sectors. During development, physical forces deform the main rings into axially directed, antero-posterior tubes, while the sectors roll up to form cylinders that are perpendicular to the antero-posterior axis. As a consequence, the basic structure of the chicken embryo is a series of encased antero-posterior tubes (gut, neural tube, body envelope, amnion, chorion) decorated with smaller orifices (ear duct, eye stalk, nasal duct, gills, mouth) forming at right angles to the main body axis. We argue that the second-order divisions reflect the early pattern of cell cleavage, and that the transformation of radial and orthoradial lines into a body with sensory organs is a generic biophysical mechanism more general than the chicken embryo.

The skin of birds' feet: Morphological adaptations of the plantar surface

The skin of the foot provides the interface between the bird and the substrate. The foot morphology involves the bone shape and the integument that is in contact with the substrate. The podotheca is a layer of keratinized epidermis forming scales that extends from the tarsometatarsus to the toe extremities. It varies in size, shape, amount of overlap and interacts with the degree of fusion of the toes (syndactyly). A study of toe shape and the podotheca provides insights on the adaptations of perching birds. Our analysis is based on micro-CT scans and scanning electron microscopy images of 21 species from 17 families, and includes examples with different orientations of the toes: zygodactyl (toes II and III forward), anisodactyl (toes II, III, and IV forward), and heterodactyl (toes III and IV forward). We show that in these three groups, the skin forms part of a perching adaptation that involves syndactyly to different degrees. However, syndactyly does not occur in Psittacidae that use their toes also for food manipulation. The syndactyly increases the sole surface and may reinforce adherence with the substrate. Scale shape and toe orientation are involved in functional adaptations to perch. Thus, both bone and skin features combine to form a pincer-like foot.

Gulper, ripper and scrapper: anatomy of the neck in three species of vultures

The head-neck system of birds is a highly complex structure that performs a variety of demanding and competing tasks. Morphofunctional adaptations to feeding specializations have previously been identified in the head and neck, but performance is also influenced by other factors such as its phylogenetic history. In order to minimize the effects of this factor, we here analyzed the anatomy of three closely related vultures that distinctly differ in feeding strategy. Vultures, as obligate scavengers, have occupied a special ecological niche by exclusively feeding on carrion. However, competition among sympatric vultures led to ecological differences such as preference of certain types of food from a carcass. Via comparative dissections we systematically described the craniocervical anatomy in the Griffon vulture (Gyps fulvus), the Cinereous vulture (Aegypius monachus) and the Hooded vulture (Necrosyrtes monachus) that exploit the same food resources in different ways. Our results revealed differences in the number of cervical vertebrae, in the morphology of the atlas-axis complex as well as in the neck musculature despite overall similarities in the musculoskeletal system. Gulpers, rippers and scrappers adopt specific postures while feeding from a carcass, but the cervical vertebral column is indispensable to position the head during all kinds of behavior. The great range of demands may explain the conservation of the overall muscle topography of the neck across the studied taxa.

Does bone preparation impact its shape: consequences for comparative analyses of bone shape

Vertebrate osteological collections provide comparative material for morphological analysis. Before being stored in the collection and studied by researchers, specimens are treated by preparators or curators and are cleaned. The preparation protocol employed ideally should not damage the material. Here, we explore the potential deformation of bones due to preparation using geometric morphometric methods. We focus both on intraspecific and interspecific variability. Our data on the scapular girdle of birds show that, at an intraspecific level, the effect of preparation on bone shape cannot be neglected. Paired and unpaired bones did not respond to the preparation process in the same way, possibly due to differences in function and their anatomical characteristics. Moreover, deformations due to preparation can be estimated by looking at the texture of the bone. At the interspecific level, we found no significant differences as the deformations induced by preparation are relatively small compared to differences among species. This study highlights the importance of carefully selecting preparation methods in order to avoid physical damage that could impact the shape of bones, especially for studies at the intraspecific level.

Extensive chondroid bone in juvenile duck limbs hints at accelerated growth mechanism in avian skeletogenesis

Modern altricial birds are the fastest growing vertebrates, whereas various degrees of precocity (functional maturity) result in slower growth. Diaphyseal osteohistology, the best proxy for inferring relative growth rates in fossils, suggests that in the earliest birds, posthatching growth rates were more variable than in modern representatives, with some showing considerably slow growth that was attributed to their assumed precocial flight abilities. For finding clues how precocial or altricial skeletogenesis and related growth acceleration could be traced in avian evolution, as a case study we investigated the growing limb diaphyseal histology in an ontogenetic series of ducks which, among several other avian taxa, show a combination of altricial wing and precocial leg development. Here we report the unexpected discovery that chondroid bone, a skeletal tissue family intermediate between cartilage and bone, extensively contributes to the development of limb bone shaft in ducks up to at least 30 days posthatching age. To our knowledge, chondroid bone has never been reported in such quantities and with an ontogenetically extended deposition period in post‐embryonic, non‐pathological periosteal bone formation of any tetrapod limb. It shows transitional cellular/lacunar morphologies and matrix staining properties between cartilage and woven bone and takes a significant part in the diametric growth of the limb bone shaft. Its amount and distribution through duckling ontogeny seems to be associated with the disparate functional and growth trajectories of the altricial wings vs. precocial legs characteristic of duck limb development. The presence of isogenous cell groups in the periosteal chondroid bone implies that cartilage‐like interstitial growth took place before matrix mineralization complementing appositional bone growth. Based on these characteristics and on its fast formation rate in all previously reported normal as well as pathological cases, we suggest that chondroid bone in ducks significantly accelerates diametric limb bone growth. Related to this growth acceleration, we hypothesize that chondroid bone may be generally present in the growing limb bones of modern birds and hence may have key skeletogenic importance in achieving extreme avian growth rates and placing birds among the fastest growing vertebrates. Thus, we encourage future studies to test this hypothesis by investigating the occurrence of chondroid bone in a variety of precocial and altricial bird species, and to explore the presence of similar tissues in the growing limbs of other extant and extinct tetrapods in order to understand the evolutionary significance of chondroid bone in accelerated appendicular skeletogenesis.

How to walk carrying a huge egg? Trade-offs between locomotion and reproduction explain the special pelvis and leg anatomy in kiwi (Aves; Apteryx spp.)

Kiwi (Aves; genus Apteryx) are famous for laying an enormous egg in comparison with their relatively small body size. Considering the peculiar gait of this flightless bird, we suspected the existence of morpho-functional trade-offs between reproduction and locomotion. To understand how structural constraints, imposed by a large egg size, might influence the terrestrial locomotion of Apteryx, we analysed the anatomy of the limb osteomuscular system in two species of kiwi (Apteryx mantelli and Apteryx owenii). We performed detailed dissections and brought to light specific anatomical features of kiwi, in comparison with other ratites and neognathous birds. Our osteological study revealed a strongly curved pelvis, a rigid tail, and enlarged ribs. Our myology study showed an unusual location of the caudofemoralis muscle origin and insertion. The insertion of the pars pelvica along the entire caudal face of the femur, contrasts with the proximal insertion usually seen in other birds. Additionally, the pars caudalis originates along the entire tail, whereas it only inserts on the uropygium in the other birds. To interpret these specificities from a functional point of view, we built three-dimensional osteomuscular models based on computed tomography scans, radiographies and our dissections. We chose three postures associated with reproductive constraints: the standing position of a gravid compared with a non-gravid bird, as well as the brooding position. The 3D model of the brooding position suggested that the enlarged ribs could support the bodyweight when leaning on the huge egg in both males and females. Moreover, we found that in gravid females, the unusual shape of the pelvis and tail allowed the huge egg to sit ventrally below the pelvis, whereas it is held closer to the rachis in other birds. The specific conformation of the limb and the insertions of the two parses of the caudofemoralis help to maintain the tail flexed, and to keep the legs adducted when carrying the egg. The caudal location of the hip and its flexed position explains the long stance phase during the strange gait of kiwi, revealing the functional trade-off between reproduction and locomotion in this emblematic New Zealand bird.

Hoatzin nestling locomotion: Acquisition of quadrupedal limb coordination in birds

The evolution of flight in birds involves (i) decoupling of the primitive mode of quadrupedal locomotor coordination, with a new synchronized flapping motion of the wings while conserving alternating leg movements, and (ii) reduction of wing digits and loss of functional claws. Our observations show that hoatzin nestlings move with alternated walking coordination of the four limbs using the mobile claws on their wings to anchor themselves to the substrate. When swimming, hoatzin nestlings use a coordinated motion of the four limbs involving synchronous or alternated movements of the wings, indicating a versatile motor pattern. Last, the proportions of claws and phalanges in juvenile hoatzin are radically divergent from those in adults, yet strikingly similar to those of Archaeopteryx. The locomotor plasticity observed in the hoatzin suggests that transitional forms that retained claws on the wings could have also used them for locomotion.

Correlated evolution of neck length and leg length in birds

Despite a diversity of about 10 000 extant species, the sophisticated avian 'body plan' has not much changed once it was achieved around 160 Ma after the origin of powered flight. All birds are bipedal having wings, a rigid trunk, a short and ossified tail, a three-segmented leg and digitigrade feet. The avian neck, however, has always been regarded as a classic example of high variability ranging from short necks in songbirds to extremely long, serpentine necks in herons. Yet, the wide array of small to very large species makes it difficult to evaluate the actual neck length. Here, we investigate the evolution of the vertebral formulae in the neck of birds and the scaling relationships between skeletal dimensions and body size. Cervical count in birds is strongly related to phylogeny, with only some specialists having an exceptional number of vertebrae in the neck. In contrast with mammals, the length of the cervical vertebral column increases as body size increases and, thus, body size does not constrain neck length in birds. Indeed, neck length scales isometrically with total leg length suggesting a correlated evolution between both modules. The strong integration between the cervical and pelvic module in birds is in contrast with the decoupling of the fore- and hindlimb module and may be the result of the loss of a functionally versatile forelimb due to the evolution of powered flight.

Whole-body 3D kinematics of bird take-off: key role of the legs to propel the trunk

Previous studies showed that birds primarily use their hindlimbs to propel themselves into the air in order to take-off. Yet, it remains unclear how the different parts of their musculoskeletal system move to produce the necessary acceleration. To quantify the relative motions of the bones during the terrestrial phase of take-off, we used biplanar fluoroscopy in two species of birds, diamond dove (Geopelia cuneata) and zebra finch (Taeniopygia guttata). We obtained a detailed 3D kinematics analysis of the head, the trunk and the three long bones of the left leg. We found that the entire body assisted the production of the needed forces to take-off, during two distinct but complementary phases. The first one, a relatively slow preparatory phase, started with a movement of the head and an alignment of the different groups of bones with the future take-off direction. It was associated with a pitch down of the trunk and a flexion of the ankle, of the hip and, to a lesser extent, of the knee. This crouching movement could contribute to the loading of the leg muscles and store elastic energy that could be released in the propulsive phase of take-off, during the extension of the leg joints. Combined with the fact that the head, together with the trunk, produced a forward momentum, the entire body assisted the production of the needed forces to take-off. The second phase was faster with mostly horizontal forward and vertical upward translation motions, synchronous to an extension of the entire lower articulated musculoskeletal system. It led to the propulsion of the bird in the air with a fundamental role of the hip and ankle joints to move the trunk upward and forward. Take-off kinematics were similar in both studied species, with a more pronounced crouching movement in diamond dove, which can be related to a large body mass compared to zebra finch.

Foot shape in arboreal birds: two morphological patterns for the same pincer-like tool

The feet are the only contact between the body and the substrate in limbed animals and as such they provide a crucial interface between the animal and its environment. This is especially true for bipedal and arboreal species living in a complex three-dimensional environment that likely induces strong selection on foot morphology. In birds, foot morphology is highly variable, with different orientations of the toes, making it a good model for the study of the role of functional, developmental, and phylogenetic constraints in the evolution of phenotypic diversity. Our data on the proportions of the phalanges analyzed in a phylogenetic context show that two different morphological patterns exist that depend mainly on habitat and toe orientation. In the anisodactyl foot, the hallux is the only backward-oriented toe and is enlarged in climbing species and reduced in terrestrial ones. Moreover, a proximo-distal gradient in phalanx size is observed depending on the degree of terrestriality. In the two other cases (heterodactyl and zygodactyl) that have two toes that point backward, the hallux is rather small in contrast to the other backward-pointing toe, which is enlarged. The first pattern is convergent and common among tetrapods and follows rules of skeletal development. The second pattern is unique for the clade and under muscle-morphogenetic control. In all cases, the functional result is the same tool, a pincer-like foot.

Transition from wing to leg forces during landing in birds

Transitions to and from the air are critical for aerial locomotion and likely shaped the evolution of flying animals. Research on take-off demonstrates that legs generate greater body accelerations compared to wings, and thereby contribute more to initial flight velocity. Here, we explore coordination between wings and legs in two species with different wingbeat styles, and quantified force production of these modules during the final phase of landing. The same birds we studied during take-off were used: zebra finch (Taeniopygia guttata, n=4) and diamond dove (Geopelia cuneata, n=3). We measured kinematics using high-speed video, aerodynamics using particle image velocimetry, and ground-reaction forces using a perch mounted on a force-plate. In contrast with the first three wingbeats of take-off, the final four wingbeats during landing featured ~2 times greater force production. Thus, wings contribute proportionally more to changes in velocity during the last phase of landing compared with the initial phase of take-off. Both species touched down at the same velocity (~1 m/s), but they exhibited significant differences in timing of their final wingbeat relative to touchdown. The ratio of average wing force to peak leg force was greater in doves than finches. Peak ground reaction forces during landing were ~50% of those during take-off, consistent with the birds being motivated to control landing. Likewise, estimations of mechanical energy flux for both species indicate wings produce 3-10 times more mechanical work within the final wingbeats of flight compared with the kinetic energy of the body absorbed by legs during ground contact.

Gait transitions and modular organization of mammal locomotion

Quadrupedal locomotion is the result of complex interactions between biomechanical and neural systems. During steady gaits, both systems are in stable states. When the animal changes its speed, transitions between gaits can occur in which the different coordination parameters are dissociated. Consequently, transitions are the periods where it is possible to detect and identify those parameters involved in the mechanical or neural control of locomotion. We studied interlimb coordination using a sequential method (antero-posterior sequence) to measure the footfall patterns of dogs when accelerating and decelerating from 1.5 m s(-1) to more than 6 m s(-1) and back. We obtained 383 transitions between all the symmetrical and asymmetrical gaits used by the dogs. Analysis of the interlimb coordination modifications and of each foot parameter showed that mechanics drive the stance phase whereas coordination is controlled during the swing phase. Furthermore, comparison of the transition patterns between all gaits reveals the modular organization of locomotion: a pectoral module coordinates the two forelimbs, a pelvic module coordinates the two hindlimbs and an axial module coordinates the two pairs of limbs and the trunk motion. The three modules cooperate to give rise to a template of stable interlimb coordination pattern, such as walk, trot or gallop.

Transition from leg to wing forces during take-off in birds

Take-off mechanics are fundamental to the ecology and evolution of flying animals. Recent research reveals that initial take-off velocity in birds is driven mostly by hindlimbs forces. However, the contribution of the wings during the transition to air is unknown. To investigate this transition, we integrated measures of both leg and wing forces during take-off and the first three wingbeats in zebra finch (Taeniopygia guttata, 15g, N=7) and diamond dove (Geopelia cuneata, 50g, N=3). We measured ground-reaction forces produced by the hindlimbs using a perch mounted on a force-plate, whole body and wing kinematics using high-speed video, and aerodynamic forces using particle image velocimetry (PIV). Take-off performance was generally similar between species. When birds were perched, an acceleration peak produced by the legs contributed to 85±1% of the whole body resultant acceleration in finch and 77±6% in dove. At lift-off, coincident with the start of the first downstroke, the percentage of hindlimb contribution to initial flight velocity was 93.6±0.6% in finch and 95.2±0.4% in dove. In finch, the first wingbeat produced 57.9±3.4% of the lift created during subsequent wingbeats compared to 62.5±2.2% in dove. Advance ratios were < 0.5 in both species, even when taking self-convection of shed vortices into account, so it was likely that wing-wake interactions dominated aerodynamics during wingbeats 2 and 3. These results underscore the relatively low contribution of the wings to initial take-off, and reveal a novel transitional role for the first wingbeat in terms of force production.

Limb-bone histology of temnospondyls: implications for understanding the diversification of palaeoecologies and patterns of locomotion of Permo-Triassic tetrapods

The locomotion of early tetrapods has long been a subject of great interest in the evolutionary history of vertebrates. However, we still do not have a precise understanding of the evolutionary radiation of their locomotory strategies. We present here the first palaeohistological study based on theoretical biomechanical considerations among a highly diversified group of early tetrapods, the temnospondyls. Based on the quantification of microanatomical and histological parameters in the humerus and femur of nine genera, this multivariate analysis provides new insights concerning the adaptations of temnospondyls to their palaeoenvironments during the Early Permian, and clearly after the Permo-Triassic crisis. This study therefore presents a methodology that, if based on a bigger sample, could contribute towards a characterization of the behaviour of species during great evolutionary events.

Steady locomotion in dogs: temporal and associated spatial coordination patterns and the effect of speed

Only a few studies on quadrupedal locomotion have investigated symmetrical and asymmetrical gaits in the same framework because the mechanisms underlying these two types of gait seem to be different and it took a long time to identify a common set of parameters for their simultaneous study. Moreover,despite the clear importance of the spatial dimension in animal locomotion,the relationship between temporal and spatial limb coordination has never been quantified before. We used anteroposterior sequence (APS) analysis to analyse 486 sequences from five malinois (Belgian shepherd) dogs moving at a large range of speeds (from 0.4 to 10.0 m s–1) to compare symmetrical and asymmetrical gaits through kinematic and limb coordination parameters. Considerable continuity was observed in cycle characteristics,from walk to rotary gallop, but at very high speeds an increase in swing duration reflected the use of sagittal flexibility of the vertebral axis to increase speed. This change occurred after the contribution of the increase in stride length had become the main element driving the increase in speed– i.e. when the dogs had adopted asymmetrical gaits. As the left and right limbs of a pair are linked to the same rigid structure, spatial coordination within pairs of limbs reflected the temporal coordination within pairs of limbs whatever the speed. By contrast, the relationship between the temporal and spatial coordination between pairs of limb was found to depend on speed and trunk length. For trot and rotary gallop, this relationship was thought also to depend on the additional action of trunk flexion and leg angle at footfall.

Evolution toward asymmetrical gaits in Neotropical spiny rats (Rodentia: Echimyidae): evidences favoring adaptation

The torch tail rat, Trinomys yonenagae Rocha, 1995 (family Echimyidae), is the morphologically most divergent of the spiny rats. In this study, we evaluate the hypothesis that gaits preferentially used by this species evolved as an adaptation to the desert-like dunes where they live. We filmed spontaneous locomotion of T. yonenagae, Trinomys albispinus minor Reis and Pessôa, 1995, and Proechimys cayennensis (Desmarest, 1817) with a high-speed camera. We detected, for each of the 323 cycles of the reference forelimb recorded, the kind of gait developed, the time lags between the touchdown of each pair of limbs, and the relative velocity. Trinomys yonenagae walked twice as fast as P. cayennensis and T. a. minor using mainly the asymmetrical transverse gallop, half-bounds, and bounds, while the other two species used mainly the lateral sequence walk. Gaits changed from symmetrical to asymmetrical with increasing velocity for T. yonenagae but not for the other species. We argue that the gait pattern found in T. yonenagae is autapomorphic, that its origin coincides with the shift to a desert-like habitat, and that this type of gait confers higher adaptive value to explore resources in open areas than the plesiomorphic pattern. Therefore, we conclude that it can be considered adaptive to life in the dunes.

Experimental study of coordination patterns during unsteady locomotion in mammals

A framework to study interlimb coordination, which allowed the analysis of all the symmetrical and asymmetrical gaits, was recently proposed. It suggests that gait depends on a common basic pattern controlling the coordination of the forelimbs (fore lag, FL), the coordination of the hindlimbs (hind lag, HL)and the relationship between these two pairs of limbs (pair lag, PL) in an anteroposterior sequence of movement (APS). These three time parameters are sufficient for identifying all steady gaits. We assumed in this work that this same framework could also be used to study non-steady locomotion, particularly the transitions between symmetrical and asymmetrical gaits. Moreover, as the limbs are coordinated in time and also in space during locomotion, we associated three analogous space parameters (fore gap, FG; hind gap, HG and pair gap, PG) to the three time parameters. We studied the interlimb coordination of dogs and cats moving on a runway with a symmetrical gait. In the middle of the runway, the gait was disturbed by an obstacle, and the animal had to change to an asymmetrical coordination to get over it. The time(FL, HL, PL) and space (FG, HG, PG) parameters of each sequence of the trials were calculated. The results demonstrated that the APS method allows quantification of the interlimb coordination during the symmetrical and asymmetrical phases and during the transition between them, in both dogs and cats. The space and time parameters make it possible to link the timing and the spacing of the footfalls, and to quantify the spatiotemporal dimension of gaits in different mammals. The slight differences observed between dogs and cats could reflect their morphological differences. The APS method could thus be used to understand the implication of morphology in interlimb coordination. All these results are consistent with current knowledge in biomechanics and neurobiology, therefore the APS reflects the actual biological functioning of quadrupedal interlimb coordination.

Spatio-temporal analysis of locomotion in BALB/cByJ and C57BL/6J mice in different environmental conditions

We analysed spatial and temporal characteristics of mouse locomotion and investigated whether mouse gait differed between strains and environments. To this end, we used two inbred strains of mice (BALB/cByJ and C57BL/6J) known for their contrasting inherent level of anxiety, in three different visual surroundings. The animal position was determined relative to each environment. Gait cycle, defined as the sequence of limb movements, was analysed relative to time. We also recorded spatial parameters of gait such as stride length, track width and footfall characteristics. These measures allowed us to obtain an accurate description of locomotion and to assess subtle modifications of the gait. We found that mice adjusted their position in space, posture and gait in order to either stabilize their body on the ground in a potentially unsafe environment, or to optimize propulsion and maneuverability in a safer location. In addition, the two strains of mice used different strategies, suggesting that the inherent level of emotionality may affect the organization of locomotion in mice. We further concluded that higher structures of the central nervous system are involved in the online control of locomotion.

Influence of the behavioural context on the optocollic reflex (OCR) in pigeons (Columba livia)

We investigated the effects of several behavioural conditions on the properties of the horizontal optocollic reflex (OCR) in pigeons. The head reflex was triggered by rotating the visual surroundings at different velocities (stimuli steps of 30-300 deg. s-1) and the characteristics of the slow and fast phases of the OCR were analysed during,(i) the `resting condition', in which animals were hung in a harness, (ii) the`standing condition', in which animals were freely standing, (iii) the`walking condition', in which animals were walking on a treadmill at different velocities, and (iv) the `flying condition', in which animals were hung in a harness and subjected to a frontal air-stream, provoking a flying posture.

In the `resting' condition, irregularities were observed in the amplitude of nystagmic beats, in the beating field and in the slow phase velocity (SPV)of the OCR. These irregularities diminished progressively when the behavioural condition changed from `standing' to `walking', and disappeared in the`flying' condition. Correlatively, the working range of the OCR (evaluated by its gain at the plateau of SPV) was progressively extended toward higher stimulation velocities.

The velocity of the fast phases of the OCR (measured for all the conditions except the `walking condition') also increased in correlation with the SPV. The walking speed did not influence the OCR in the treadmill velocity range of 0.20-0.40 m s-1. The presence of a frontal airstream in the`standing condition' did not change the OCR properties. This fact (and other observations discussed in the paper) suggests that the adaptation of the OCR to the behavioural context is mediated by internal signals generated by each behavioural condition.

[Bipedalism in birds, a determining feature for their adaptive success]

The birds are flying animals but they are also basically bipeds. The theropod dinosaurs, precursors of the birds, were already cursorial bipeds. Because the body structure was modelled by aerodynamical constraints during the evolution, all birds, even those that do not fly anymore, share a typical avian body shape. The osteological differences between birds are more adjustments than deep disruptions. Nevertheless, the birds are very diversified in their way of life and habitat. Yet, the hind limbs of the birds are surprisingly efficient in many manners, such as taking off, landing, swimming and walking. The limb structures adaptability to the various tasks require different mechanical fitness or device such as shock absorber during landing, or thrusters during tacking off. Moreover, almost all birds can walk, even if they have another locomotor specialization, as swimming or flying. Depending on the specialization, the gait features of the walk and the kinematics pattern are slightly modified. The functional adaptability of their hind limb structure may be a key to the evolutive success of the birds.

A new way of analysing symmetrical and asymmetrical gaits in quadrupeds

This new approach highlights for the first time that all the gaits, symmetrical as well as asymmetrical, correspond to the succession of sequences that start by the movements of the two fore limbs, followed by the movements of the two hind limbs. Inside those sequences, the gaits are identified by the time lag between the movements of the two pairs and by the time lag between the movements of the two feet inside each pair. This approach, by breaking the stride paradigm, gives a new framework to locomotion analysis.

Kinematic parameters of terrestrial locomotion in cursorial (ratites), swimming (ducks), and striding birds (quail and guinea fowl)

The importance of size, functional features and morphological features in adaptation for walking in birds were studied. The time and space kinematic parameters of locomotion were compared in two running birds, the ratites (rhea, kiwi, Paleognatiforms), in two swimming birds, (ducks) and two striding birds, (quail and Guinea fowl). The results showed that in the two phases, stance and swing, the time and space parameters worked in opposite ways: the duration of the swing was constant, but its length increased with speed. In contrast, the duration of the stance was correlated to speed, while its length was not (except in ducks). In all the birds, a higher speed was achieved by a decrease of the stance duration, and an increase of the swing length. The kinematic parameters were not used in the same way in all species: There is a size effect and large birds increase their speed mainly by increasing the frequency of their movements and the small species increase mainly their amplitude. Nevertheless, it is not the main factor and morphology, such as swimming adaptation features of the ducks, and behaviour, are important because they modify the mechanical constraints and influence the kinematics parameters.

Bipedal locomotion in birds: the importance of functional parameters in terrestrial adaptation in Anatidae

The kinematic characteristics of a bird's walk vary according to whether the species is cursorial or not. To increase their speed, running birds increase the frequency of their movements, whereas non-running birds preferentially increase the amplitude. Previous studies have shown that these differences are accompanied by differences in posture; however, the observations were carried out on different species. Do these differences correspond to morphological differences linked to the history of the particular species, or do they reflect more effective solutions from a mechanical point of view? Two breeds of the duck Anas platyrhynchos platyrhynchos, the mallard and the Indian runner, which have different locomotor behaviours, are compared. The mallard is a dabbling duck with the typical horizontal duck posture, while the Indian runner is a terrestrial duck that carries its trunk very erect. The kinematic characteristics of the walks of both breeds were studied. The observed differences in posture between the mallard and the Indian runner have repercussions in the kinematic features of locomotion. The strategies used to increase speed differ in the two breeds: the mallard increases the amplitude of its movements, like other non-running birds, while the Indian runner increases the frequency of its movements, as cursorial birds do. Thus, behavioural adaptation to terrestrial locomotion is associated with functional adaptation (upright posture) that permits a more effective mechanical solution without requiring obvious morphological modifications.

[Expression of growth dynamic in the structure of periosteal bone in Anas platyrhynchos]

An experimental study of the periosteal bone growth in the mallard from 42 to 154 post hatching days shows: (1) a noticeable time difference in the local biological age of the diaphyseal cortices between various long bones; (2) great differences in their histological structures, at a given individual age, expressing commensurate differences in local growth rates. Those results emphasize the importance of local factors to interpret the typology of the primary (periosteal) bone tissues. Experimental results allow to quantify the relationships between bone tissue typology and the velocity of its radial deposition.

Mechanics of standing in birds: functional explanation of lameness problems in giant turkeys

1. The parameters used for the mechanics of standing in birds are defined and compared for two strains of turkeys, a giant, broad-breasted strain (up to 40 kg), the result of artificial selection, and a traditional, smaller bird (9 kg), in order to show whether the mechanics of standing are modified by selection. 2. Using a geometrical similarity hypothesis, it was found that, although the locomotor apparatus of both strains are similar, the stresses on the pelvic muscles of broad-breasted turkeys are increased. This is induced by the anterior position of the centres of gravity of their trunks, the result of selected pectoral hypertrophy. 3. The modification to the mechanics of standing may be related to the increase in locomotor disease in strains of giant turkeys.

Comparative gait analysis of two strains of turkey, Meleagris gallopavo

1. Economic requirements have encouraged farmers to select broad-breasted strains of turkeys (Meleagris gallopavo). These birds are very heavy (more than 30 kg), have pectoral hypertrophy and are frequently lame. Traditional turkeys, closer to wild birds, weigh 9 kg on average. 2. Gaits, which are motor pattern expressions, seem to be linked to species morphology. However, no significant differences are evident between the gaits of traditional and broad-breasted strains. 3. Yet, posterior views of the walk of both strains show lateral oscillations, which are very slight in the traditional one but very marked in the broad-breasted one. 4. In the latter, modification of the centre of gravity path may increase the energetic cost of walking and be associated with problems of lameness. 5. Therefore, if the genetic pool permits an increase in weight of broad-breasted turkeys, then extrinsic factors, such as gravity constraints, may limit this evolution.

[Myology of the pelvic limb of the domestic turkey Meleagris gallopavo]

Pelvic limbs of 150 turkeys from a normal farmer's strain and from a Broad Breasted strain were examined by dissection to determine growth from birth to adulthood. Schematic figures and photographs show the course of the dissection. The pictures show how the muscles are related to the skeleton of the pelvic limb in the farmer's strain as well as demonstrate the surfaces upon which the muscles insert. The configuration of the muscles in the turkey are similar to the generally known model in birds. It is necessary, however, to describe the musculature and its relations to the skeleton before functional conclusions can be drawn or before studies of deficiencies in movements related to the selection of broad breasted strains can be made.