Locomotion of Reptiles" Will Be of Interest to a Wide Range of Readers
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Slithering Locomotion
SLITHERING LOCOMOTION DAVID L. HU() AND MICHAEL SHELLEY∗∗ Abstract. Limbless terrestrial animals propel themselves by sliding their bellies along the ground. Although the study of dry solid-solid friction is a classical subject, the mechanisms underlying friction-based limbless propulsion have received little attention. We review and expand upon our previous work on the locomotion of snakes, who are expert sliders. We show that snakes use two principal mechanisms to slither on flat surfaces. First, their bellies are covered with scales that catch upon ground asperities, providing frictional anisotropy. Second, they are able to lift parts of their body slightly off the ground when moving. This reduces undesired frictional drag and applies greater pressure to the parts of the belly that are pushing the snake forwards. We review a theoretical framework that may be adapted by future investigators to understand other kinds of limbless locomotion. Key words. Snakes, friction, locomotion AMS(MOS) subject classifications. Primary 76Zxx 1. Introduction. Animal locomotion is as diverse as animal form. Swimming, flying and walking have received much attention [1, 9]withthe latter being the most commonly studied means for moving on land (Fig. 1). Comparatively little attention has been paid to limbless locomotion on land, which necessarily relies upon sliding. Sliding is physically distinct from pushing against a fluid and understanding it as a form of locomotion presents new challenges, as we present in this review. Terrestrial limbless animals are rare. Those that are multicellular include worms, snails and snakes, and account for less than 2% of the 1.8 million named species (Fig. -
The Mechanics of Slithering Locomotion
The mechanics of slithering locomotion David L. Hua,b,1, Jasmine Nirodya, Terri Scotta, and Michael J. Shelleya aApplied Mathematics Laboratory, Courant Institute of Mathematical Sciences, New York University, New York, NY 10003; and bDepartments of Mechanical Engineering and Biology, Georgia Institute of Technology, Atlanta, GA 30332 Edited by Charles S. Peskin, New York University, New York, NY, and approved April 22, 2009 (received for review December 12, 2008) In this experimental and theoretical study, we investigate the the sum of frictional forces per unit length, ffric, and internal slithering of snakes on flat surfaces. Previous studies of slithering forces, fint, generated by the snakes. That is, have rested on the assumption that snakes slither by pushing laterally against rocks and branches. In this study, we develop a X¨ ϭ ffric ϩ fint , [1] theoretical model for slithering locomotion by observing snake ¨ motion kinematics and experimentally measuring the friction co- where X is the acceleration at each point along the snake’s body. efficients of snakeskin. Our predictions of body speed show good To avoid complex issues of muscle and tissue modeling, fint is agreement with observations, demonstrating that snake propul- determined to be that necessary for the model snake to produce sion on flat ground, and possibly in general, relies critically on the the observed shape kinematics. We use a sliding friction law in k frictional anisotropy of their scales. We have also highlighted the which the friction force per unit length is f ϭϪkguˆ, where importance of weight distribution in lateral undulation, previously is the sliding friction coefficient, uˆ ϭ u/u is the velocity difficult to visualize and hence assumed uniform. -
Amphibious Fishes: Terrestrial Locomotion, Performance, Orientation, and Behaviors from an Applied Perspective by Noah R
AMPHIBIOUS FISHES: TERRESTRIAL LOCOMOTION, PERFORMANCE, ORIENTATION, AND BEHAVIORS FROM AN APPLIED PERSPECTIVE BY NOAH R. BRESSMAN A Dissertation Submitted to the Graduate Faculty of WAKE FOREST UNIVESITY GRADUATE SCHOOL OF ARTS AND SCIENCES in Partial Fulfillment of the Requirements for the Degree of DOCTOR OF PHILOSOPHY Biology May 2020 Winston-Salem, North Carolina Approved By: Miriam A. Ashley-Ross, Ph.D., Advisor Alice C. Gibb, Ph.D., Chair T. Michael Anderson, Ph.D. Bill Conner, Ph.D. Glen Mars, Ph.D. ACKNOWLEDGEMENTS I would like to thank my adviser Dr. Miriam Ashley-Ross for mentoring me and providing all of her support throughout my doctoral program. I would also like to thank the rest of my committee – Drs. T. Michael Anderson, Glen Marrs, Alice Gibb, and Bill Conner – for teaching me new skills and supporting me along the way. My dissertation research would not have been possible without the help of my collaborators, Drs. Jeff Hill, Joe Love, and Ben Perlman. Additionally, I am very appreciative of the many undergraduate and high school students who helped me collect and analyze data – Mark Simms, Tyler King, Caroline Horne, John Crumpler, John S. Gallen, Emily Lovern, Samir Lalani, Rob Sheppard, Cal Morrison, Imoh Udoh, Harrison McCamy, Laura Miron, and Amaya Pitts. I would like to thank my fellow graduate student labmates – Francesca Giammona, Dan O’Donnell, MC Regan, and Christine Vega – for their support and helping me flesh out ideas. I am appreciative of Dr. Ryan Earley, Dr. Bruce Turner, Allison Durland Donahou, Mary Groves, Tim Groves, Maryland Department of Natural Resources, UF Tropical Aquaculture Lab for providing fish, animal care, and lab space throughout my doctoral research. -
Gait Analysis in Uner Tan Syndrome Cases with Key Symptoms of Quadrupedal Locomotion, Mental Impairment, and Dysarthric Or No Speech
Article ID: WMC005017 ISSN 2046-1690 Gait Analysis in Uner Tan Syndrome Cases with Key Symptoms of Quadrupedal Locomotion, Mental Impairment, and Dysarthric or No Speech Peer review status: No Corresponding Author: Submitting Author: Prof. Uner Tan, Senior Researcher, Cukurova University Medical School , Cukurova University, Medical School, Adana, 01330 - Turkey Article ID: WMC005017 Article Type: Research articles Submitted on: 09-Nov-2015, 01:39:27 PM GMT Published on: 10-Nov-2015, 08:43:08 AM GMT Article URL: http://www.webmedcentral.com/article_view/5017 Subject Categories: NEUROSCIENCES Keywords: Uner Tan syndrome, quadrupedal locomotion, ataxia, gait, lateral sequence, diagonal sequence, evolution, primates How to cite the article: Tan U. Gait Analysis in Uner Tan Syndrome Cases with Key Symptoms of Quadrupedal Locomotion, Mental Impairment, and Dysarthric or No Speech. WebmedCentral NEUROSCIENCES 2015;6(11):WMC005017 Copyright: This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC-BY), which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited. Source(s) of Funding: None Competing Interests: None Additional Files: Illustration 1 ILLUSTRATION 2 ILLUSTRATION 3 ILLUSTRATION 4 ILLUSTRATION 5 ILLUSTRATION 6 WebmedCentral > Research articles Page 1 of 14 WMC005017 Downloaded from http://www.webmedcentral.com on 10-Nov-2015, 08:43:10 AM Gait Analysis in Uner Tan Syndrome Cases with Key Symptoms of Quadrupedal Locomotion, Mental Impairment, and Dysarthric or No Speech Author(s): Tan U Abstract sequence, on the lateral and on the diagonals.” This child typically exhibited straight legs during quadrupedal standing. Introduction: Uner Tan syndrome (UTS) consists of A man with healthy legs walking on all fours was quadrupedal locomotion (QL), impaired intelligence discovered by Childs [3] in Turkey, 1917. -
Human Hands-And-Knees Crawling Movement Analysis Based on Time-Varying Synergy and Synchronous Synergy Theories
Mathematical Biosciences and Engineering, 16(4): 2492–2513. DOI: 10.3934/mbe.2019125 Received: 24 December 2018 Accepted: 06 March 2019 Published: 22 March 2019 http://www.aimspress.com/journal/MBE Research article Human hands-and-knees crawling movement analysis based on time-varying synergy and synchronous synergy theories Teng Li , Xiang Chen *, Shuai Cao , Xu Zhang and Xun Chen Department of Electronic Science and Technology, University of Science and Technology of China, Hefei 230026, Anhui, P.R. China * Correspondence: Email: [email protected]. Abstract: This paper aims to investigate human hands-and-knees crawling movement from the aspect of synchronous (SYN) and time-varying (TV) muscle synergy analysis. Nine healthy children and 11 children with cerebral palsy were recruited. During hands-and-knees crawling, surface electromyography (sEMG) signals from 12 main muscles of upper limbs and trunk were recorded, and muscle synergies were extracted based on TV synergy and SYN synergy theories. From the perspectives of repeatability, symmetry and similarity, the abilities of these two types of synergies to characterize crawling movement and to distinguish normal and abnormal crawling were explored. We found that: First, SYN synergy is better than TV synergy in depicting the body symmetry during crawling movement. However, TV synergy is more suitable than SYN synergy for distinguishing normal and abnormal crawling from the perspective of symmetry. Second, the abilities of SYN synergy and TV synergy in depicting the crawling repeatability are not comparable, and both have the potential to depict the crawling abnormality from the perspective of repeatability. Third, from the angle of inter-subject similarity, SYN synergy has the potential to describe the abnormal crawling pattern. -
Kinematic and Gait Similarities Between Crawling Human Infants and Other Quadruped Mammals
ORIGINAL RESEARCH ARTICLE published: 09 February 2015 doi: 10.3389/fneur.2015.00017 Kinematic and gait similarities between crawling human infants and other quadruped mammals Ludovic Righetti 1*, Anna Nylén2, Kerstin Rosander 2 and Auke Jan Ijspeert 3 1 Autonomous Motion Department, Max-Planck Institute for Intelligent Systems, Tübingen, Germany 2 Uppsala Child and Baby Lab, Department of Psychology, Uppsala University, Uppsala, Sweden 3 Biorobotics Laboratory, Interfaculty Institute of Bioengineering, School of Engineering, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland Edited by: Crawling on hands and knees is an early pattern of human infant locomotion, which offers Uner Tan, Cukurova University, Turkey an interesting way of studying quadrupedalism in one of its simplest form. We investigate Reviewed by: how crawling human infants compare to other quadruped mammals, especially primates. Héctor Alberto González-Usigli, Instituto Mexicano del Seguro Social, We present quantitative data on both the gait and kinematics of seven 10-month-old crawl- Mexico ing infants. Body movements were measured with an optoelectronic system giving precise Katya Kotschet, St Vincent’s Hospital, data on 3-dimensional limb movements. Crawling on hands and knees is very similar to the Australia locomotion of non-human primates in terms of the quite protracted arm at touch-down, the *Correspondence: coordination between the spine movements in the lateral plane and the limbs, the relatively Ludovic Righetti, Autonomous Motion extended limbs during locomotion and the strong correlation between stance duration and Department, Max-Planck Institute for Intelligent Systems, Paul-Erlich Str. speed of locomotion. However, there are important differences compared to primates, 15, Tübingen 72076, Germany such as the choice of a lateral-sequence walking gait, which is similar to most non-primate e-mail: ludovic.righetti@tuebingen. -
SR 55(4) 42-44.Pdf
FEATURE ARTICLE Oriental fl ying gurnard (Dactyloptera orientalis) Carribean fl ying gurnard (Dactyloptera volitans) Fliers Without Prafulla Kumar Mohanty Four-winged fl ying fi sh Feathers & Damayanti Nayak (Cypselurus californicus) LIGHT is an amazing 2. Flying squid: In the Flying squid accomplishment that evolved (Todarodes pacifi cus), commonly Ffi rst in the insects and was called Japanese fl ying squid, the mantle observed subsequently up to the encloses the visceral mass of the squid, mammalian class. However, the word and has two enlarged lateral fi ns. The ‘fl ying’ brings to mind pictures of birds squid has eight arms and two tentacles only. with suction cups along the backs. But there are many other fl yers other In between the arms sits the mouth, than birds in the animal kingdom who inside the mouth a rasping organ called have mastered the art of being airborne. radula is present. Squids have ink sacs, Japanese fl ying squid Different body structures and peculiar which they use as a defence mechanism organs contribute to the aerodynamic against predators. Membranes are stability of these organisms. Let’s take present between the tentacles. They 40 cm in length respectively. When a look at some of them. can fl y more than 30 m in 3 seconds they leave water for the air, sea birds uniquely utilising their jet-propelled such as frigates, albatrosses, and gulls aerial locomotion. 1. Gliding ant: Gliding ants are liable to attack. Its body lifts above (Cephalotes atrautus) are arboreal ants the surface, it spread its fi ns and taxis 3. -
Alexander 2013 Principles-Of-Animal-Locomotion.Pdf
.................................................... Principles of Animal Locomotion Principles of Animal Locomotion ..................................................... R. McNeill Alexander PRINCETON UNIVERSITY PRESS PRINCETON AND OXFORD Copyright © 2003 by Princeton University Press Published by Princeton University Press, 41 William Street, Princeton, New Jersey 08540 In the United Kingdom: Princeton University Press, 3 Market Place, Woodstock, Oxfordshire OX20 1SY All Rights Reserved Second printing, and first paperback printing, 2006 Paperback ISBN-13: 978-0-691-12634-0 Paperback ISBN-10: 0-691-12634-8 The Library of Congress has cataloged the cloth edition of this book as follows Alexander, R. McNeill. Principles of animal locomotion / R. McNeill Alexander. p. cm. Includes bibliographical references (p. ). ISBN 0-691-08678-8 (alk. paper) 1. Animal locomotion. I. Title. QP301.A2963 2002 591.47′9—dc21 2002016904 British Library Cataloging-in-Publication Data is available This book has been composed in Galliard and Bulmer Printed on acid-free paper. ∞ pup.princeton.edu Printed in the United States of America 1098765432 Contents ............................................................... PREFACE ix Chapter 1. The Best Way to Travel 1 1.1. Fitness 1 1.2. Speed 2 1.3. Acceleration and Maneuverability 2 1.4. Endurance 4 1.5. Economy of Energy 7 1.6. Stability 8 1.7. Compromises 9 1.8. Constraints 9 1.9. Optimization Theory 10 1.10. Gaits 12 Chapter 2. Muscle, the Motor 15 2.1. How Muscles Exert Force 15 2.2. Shortening and Lengthening Muscle 22 2.3. Power Output of Muscles 26 2.4. Pennation Patterns and Moment Arms 28 2.5. Power Consumption 31 2.6. Some Other Types of Muscle 34 Chapter 3. -
Bipedal Locomotion up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Beijing, China, November 6-9, 2018 Bipedal Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods Jonathan R. Gosyne1, Christian M. Hubicki2, Xiaobin Xiong3, Aaron D. Ames4 and Daniel I. Goldman5 Abstract— Bipedal robotic locomotion in granular media (a) presents a unique set of challenges at the intersection of granular physics and robotic locomotion. In this paper, we perform a systematic experimental study in which biped robotic gaits for traversing a sandy slope are empirically designed using Zero Moment Point (ZMP) methods. We are able to implement gaits that allow our 7 degree-of-freedom planar walking robot to ascend slopes with inclines up to 10◦. Firstly, we identify a given set of kinematic parameters that meet the ZMP stability (b) criterion for uphill walking at a given angle. We then find that further relating the step lengths and center of mass heights to specific slope angles through an interpolated fit allows for (c) significantly improved success rates when ascending a sandy slope. Our results provide increased insight into the design, sensitivity and robustness of gaits on granular material, and the kinematic changes necessary for stable locomotion on complex media. I. INTRODUCTION (d) Enabling humanoid machines to walk wherever humans can go is an ongoing robotics challenge. This challenge is es- pecially apparent when walking on the complex and dynamic terrain present in the natural world, such as a sand dune – a sloped surface of granular material. Every footfall will sink into the non-rigid terrain exhibiting variable dynamics with respect to time and space. -
Chrysopelea Ornata)
Material properties of skin in a flying snake (Chrysopelea ornata) Sarah Bonham Dellinger Thesis submitted to the faculty of the Virginia Polytechnic Institute and State University in partial fulfillment of the requirements for the degree of Master of Science In Engineering Mechanics John J. Socha, Chair Raffaella De Vita Pavlos P. Vlachos April 27, 2011 Blacksburg, VA Keywords: flying snakes, skin, material properties, digital image correlation © Sarah Bonham Dellinger 2011 Material properties of skin in a flying snake (Chrysopelea ornata) Sarah Bonham Dellinger ABSTRACT The genus Chrysopelea encompasses the “flying” snakes. This taxon has the ability to glide via lateral aerial undulation and dorsoventral body flattening, a skill unique to this group, but in addition to other functions common to all colubrids. The skin must be extensible enough to allow this body shape alteration and undulation, and strong enough to withstand the forces seen during landing. For this reason, characterizing the mechanical properties of the skin may give insight to the functional capabilities of the skin during these gliding and landing behaviors. Dynamic and viscoelastic uniaxial tensile tests were combined with a modified particle image velocimetry technique to provide strength, extensibility, strain energy, and stiffness information about the skin with respect to orientation, region, and species, along with viscoelastic parameters. Results compared with two other species in this study and a broader range of species in prior studies indicate that while the skin of these unique snakes may not be specifically specialized to deal with larger forces, extensibility, or energy storage and release, the skin does have increased strength and energy storage associated with higher strain rates. -
Human Crawling Performance and Technique Revealed by Inertial Measurement Units ⇑ Rachel V
Journal of Biomechanics 84 (2019) 121–128 Contents lists available at ScienceDirect Journal of Biomechanics journal homepage: www.elsevier.com/locate/jbiomech www.JBiomech.com Human crawling performance and technique revealed by inertial measurement units ⇑ Rachel V. Vitali , Stephen M. Cain, Steven P. Davidson, Noel C. Perkins Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA article info abstract Article history: Human crawling performance and technique are of broad interest to roboticists, biomechanists, and mil- Accepted 15 December 2018 itary personnel. This study explores the variables that define crawling performance in the context of an outdoor obstacle course used by military organizations worldwide to evaluate the effects of load and per- sonal equipment on warfighter performance. Crawling kinematics, measured from four body-worn iner- Keywords: tial measurement units (IMUs) attached to the upper arms and thighs, are recorded for thirty-three Inertial measurement units participants. The IMU data is distilled to four metrics of crawling performance; namely, crawl speed, Crawling crawl stride time, ipsilateral limb coordination, and contralateral limb coordination. We hypothesize that Limb coordination higher performance (as identified by higher crawl speeds) is associated with more coordinated limbs and lower stride times. A cluster analysis groups participants into high and low performers exhibiting statis- tically significant differences across the four performance metrics. In particular, high performers exhibit superior limb coordination associated with a ‘‘diagonal gait” in which contralateral limbs move largely in-phase to produce faster crawl speeds and shorter crawl stride times. In contrast, low performers crawl at slower speeds with longer crawl stride times and less limb coordination. -
Gross Motor Skills Practical Advice and Activity Ideas to Encourage the Development of Gross Motor Skills
Children and Young People’s Occupational Therapy Service Gross Motor Skills Practical advice and activity ideas to encourage the development of Gross Motor skills. Follow us on Twitter @NHSaaa Find us on Facebook at www.facebook.com/nhsaaa Visit our website: www.nhsaaa.net All our publications are available in other formats Contents page Introduction 3 Planning and Organisation 5 Bilateral Integration 8 Core Stability 12 Spatial awareness 14 Ball skills 17 General gross motor activities 20 Useful resources and websites 23 2 Introduction This booklet has been designed to provide practical ideas and activities to help support your child/ young person to develop their gross motor skills. All references to child / children mean either a child or young person. Gross motor skills are large movements your child makes with their arms, legs, feet, or entire body. For example; crawling, running and jumping are gross motor skills. Gross motor skills can be challenging for many children for a number of reasons: • Lack of experience or practice. • Difficulty using two sides of the body together (bilateral integration). • Reduced balance caused by poor core stability. • Difficulty planning and organising themselves to follow instructions. • Poor spatial (space) awareness skills. In many cases, supporting a child on a regular basis to practice gross motor activities should encourage their skills to improve. 3 Games and activities can be introduced to your child at any time throughout the day. Try to create lots of opportunities as this can be very helpful for your child’s gross motor development. The booklet also contains other useful resources; local authority websites, active school co-ordinators, clubs.