S41467-019-13405-W OPEN Comparative Analysis of Squamate Brains Unveils Multi-Level Variation in Cerebellar Architecture Associated with Locomotor Specialization
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Traversing Tight Tunnels—Implementing an Adaptive Concertina Gait in a Biomimetic Snake Robot Henry C
Earth and Space 2018 158 Traversing Tight Tunnels—Implementing an Adaptive Concertina Gait in a Biomimetic Snake Robot Henry C. Astley1 1Biomimicry Research and Innovation Center, Dept. of Biology and Polymer Science, Univ. of Akron, 235 Carroll St., Akron, OH 44325-3908. E-mail: [email protected] ABSTRACT Snakes move through cluttered habitats and tight spaces with extraordinary ease, and consequently snake robots are a popular design for such situations. The remarkable locomotor performance of snakes is due in part to their diversity of locomotor modes for addressing a range of environmental challenges. Concertina locomotion consists of alternating periods of static anchoring and movement along the snake’s body, and is used to negotiate narrow spaces such as tunnels or bare branches. However, concertina locomotion has rarely been implemented in snake robots. In this paper, the anchor formation process in live snakes during concertina locomotion is quantified and used to implement concertina locomotion in a snake robot, with automatic detection of the width of the tunnel walls to modulate the waveform. This allows effective concertina locomotion in tunnels of unknown width, without prior knowledge of tunnel geometry, expanding the range of gaits in snake robots. INTRODUCTION The elongate, limbless body plan is extremely common throughout nature, in both vertebrate and invertebrates alike (Pechenik, J. A. 2005; Pough, F. H. et al. 2002), and has evolved independently numerous times (Gans, C 1975). Indeed, within lizards (Order Squamata) alone there are over two dozen independent evolutions of limblessness or functional limblessness (Wiens, J. J. et al. 2006). Snakes are by far the most successful limbless taxon, with a near-global distribution, nearly 3000 species, and a wide range of ecological niches and habitats (Pough, F. -
Introduction to 2D-Animation Working Practice
Prelims-K52054.qxd 2/6/07 5:18 PM Page i Character Animation: 2D Skills for Better 3D This page intentionally left blank Prelims-K52054.qxd 2/6/07 5:18 PM Page iii Character Animation: 2D Skills for Better 3D Second edition Steve Roberts AMSTERDAM • BOSTON • HEIDELBERG • LONDON • NEW YORK • OXFORD PARIS • SAN DIEGO • SAN FRANCISCO • SINGAPORE • SYDNEY • TOKYO Focal Press is an imprint of Elsevier Prelims-K52054.qxd 2/6/07 5:18 PM Page iv This eBook does not include ancillary media that was packaged with the printed version of the book. Focal Press is an imprint of Elsevier Linacre House, Jordan Hill, Oxford OX2 8DP, UK 30 Corporate Drive, Suite 400, Burlington, MA 01803, USA First published 2004 Second edition 2007 Copyright © 2007, Steve Roberts. Published by Elsevier Ltd. All rights reserved The right of Steve Roberts to be identified as the author of this work has been asserted in accordance with the Copyright, Designs and Patents Act 1988 No part of this publication may be reproduced, stored in a retrieval system or transmitted in any form or by any means electronic, mechanical, photocopying, recording or otherwise without the prior written permission of the publisher Permissions may be sought directly from Elsevier’s Science & Technology Rights Department in Oxford, UK: phone (ϩ44) (0) 1865 843830; fax (ϩ44) (0) 1865 853333; e-mail: [email protected]. Alternatively you can submit your request online by visiting the Elsevier web site at http://elsevier.com/locate/permissions, and selecting Obtaining permission to use Elsevier material Notice No responsibility is assumed by the publisher for any injury and/or damage to persons or property as a matter of products liability, negligence or otherwise, or from any use or operation of any methods, products, instructions or idead contained in the material herein. -
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. -
Redalyc.Comparative Studies of Supraocular Lepidosis in Squamata
Multequina ISSN: 0327-9375 [email protected] Instituto Argentino de Investigaciones de las Zonas Áridas Argentina Cei, José M. Comparative studies of supraocular lepidosis in squamata (reptilia) and its relationships with an evolutionary taxonomy Multequina, núm. 16, 2007, pp. 1-52 Instituto Argentino de Investigaciones de las Zonas Áridas Mendoza, Argentina Disponible en: http://www.redalyc.org/articulo.oa?id=42801601 Cómo citar el artículo Número completo Sistema de Información Científica Más información del artículo Red de Revistas Científicas de América Latina, el Caribe, España y Portugal Página de la revista en redalyc.org Proyecto académico sin fines de lucro, desarrollado bajo la iniciativa de acceso abierto ISSN 0327-9375 COMPARATIVE STUDIES OF SUPRAOCULAR LEPIDOSIS IN SQUAMATA (REPTILIA) AND ITS RELATIONSHIPS WITH AN EVOLUTIONARY TAXONOMY ESTUDIOS COMPARATIVOS DE LA LEPIDOSIS SUPRA-OCULAR EN SQUAMATA (REPTILIA) Y SU RELACIÓN CON LA TAXONOMÍA EVOLUCIONARIA JOSÉ M. CEI † las subfamilias Leiosaurinae y RESUMEN Enyaliinae. Siempre en Iguania Observaciones morfológicas Pleurodonta se evidencian ejemplos previas sobre un gran número de como los inconfundibles patrones de especies permiten establecer una escamas supraoculares de correspondencia entre la Opluridae, Leucocephalidae, peculiaridad de los patrones Polychrotidae, Tropiduridae. A nivel sistemáticos de las escamas específico la interdependencia en supraoculares de Squamata y la Iguanidae de los géneros Iguana, posición evolutiva de cada taxón Cercosaura, Brachylophus, -
CNN-Based Genetic Algorithm
International Journal of Computational Intelligence Systems, Vol.2, No. 2 (June, 2009), 124-131 Cellular Neural Networks-Based Genetic Algorithm for Optimizing the Behavior of an Unstructured Robot Alireza Fasih Transportation Informatics Group, Institute of Smart Systems Technologies, University of Klagenfurt Klagenfurt, Austria E-mail: [email protected] Jean Chamberlain Chedjou Transportation Informatics Group, Institute of Smart Systems Technologies, University of Klagenfurt E-mail: [email protected] Kyandoghere Kyamakya Transportation Informatics Group, Institute of Smart Systems Technologies, University of Klagenfurt E-mail: [email protected] Abstract A new learning algorithm for advanced robot locomotion is presented in this paper. This method involves both Cellular Neural Networks (CNN) technology and an evolutionary process based on genetic algorithm (GA) for a learning process. Learning is formulated as an optimization problem. CNN Templates are derived by GA after an optimization process. Through these templates the CNN computation platform generates a specific wave leading to the best motion of a walker robot. It is demonstrated that due to the new method presented in this paper an irregular and even a disjointed walker robot can successfully move with the highest performance. Keywords: Cellular Neural Networks, Robot locomotion, Simulation, Genetic Algorithms. 1. Introduction of animal walking motion with the aim of optimizing the energy consumption [2-4]. It is well-known that the Nowadays, some of the main goals of robotics science, walking motion of animals is of a stereotype. In a large mechatronics and artificial intelligence lie in designing variety of animals a central neural controller does mechanisms close to or mimicking as good as possible organize/coordinate the motion. -
Discovery of an Additional Piece of the Large Gymnophthalmid Puzzle: A
Zootaxa 4950 (2): 296–320 ISSN 1175-5326 (print edition) https://www.mapress.com/j/zt/ Article ZOOTAXA Copyright © 2021 Magnolia Press ISSN 1175-5334 (online edition) https://doi.org/10.11646/zootaxa.4950.2.4 http://zoobank.org/urn:lsid:zoobank.org:pub:9464FC1F-2F92-46B7-BA53-1CFC93981F09 Discovery of an additional piece of the large gymnophthalmid puzzle: a new genus and species of stream spiny lizard (Squamata: Gymnophthalmidae: Cercosaurinae) from the western Guiana Shield in Venezuela FERNANDO J.M. ROJAS-RUNJAIC1*, CÉSAR L. BARRIO-AMORÓS2, J. CELSA SEÑARIS3,4, IGNACIO DE LA RIVA5 & SANTIAGO CASTROVIEJO-FISHER4,6 1Museo de Historia Natural La Salle, Fundación La Salle de Ciencias Naturales, Caracas 1050, Distrito Capital, Venezuela 2Doc Frog Expeditions/CRWild, 60504, Bahía Ballena, Uvita, Costa Rica �[email protected]; https://orcid.org/0000-0001-5837-9381 3PROVITA, calle La Joya con Av. Libertador, Unidad Técnica del Este, piso 10, oficina 29-30, Caracas 1060, Miranda, Venezuela �[email protected]; https://orcid.org/0000-0001-8673-7385 4Laboratório de Sistemática de Vertebrados, Pontifícia Universidade Católica do Rio Grande do Sul (PUCRS), Av. Ipiranga 6681, Porto Alegre, RS 90619-900, Brazil 5Museo Nacional de Ciencias Naturales-CSIC, C/ José Gutiérrez Abascal 2, 28006 Madrid, Spain �[email protected]; https://orcid.org/0000-0001-5064-4507 6Department of Herpetology, American Museum of Natural History, 200 Central Park West, New York, NY 10024-5102, USA �[email protected]; https://orcid.org/0000-0002-1048-2168 *Corresponding author. �[email protected]; https://orcid.org/0000-0001-5409-4231 Abstract Gymnophthalmids are a highly diverse group of Neotropical lizards and its species richness is still in process of discovery. -
Muscular Mechanisms and Kinematics of Rectilinear Locomotion in Boa Constrictors Steven J
© 2018. Published by The Company of Biologists Ltd | Journal of Experimental Biology (2018) 221, jeb166199. doi:10.1242/jeb.166199 RESEARCH ARTICLE Crawling without wiggling: muscular mechanisms and kinematics of rectilinear locomotion in boa constrictors Steven J. Newman and Bruce C. Jayne* ABSTRACT how such animals coordinate the muscle activity and movement A central issue for understanding locomotion of vertebrates is how among all of these serially homologous structures. Within muscle activity and movements of their segmented axial structures are vertebrates, both lampreys and snakes have body segments with coordinated, and snakes have a longitudinal uniformity of body size and shape that are relatively uniform along most of their length, segments and diverse locomotor behaviors that are well suited for and the absence of appendages provides a somewhat simplified studying the neural control of rhythmic axial movements. Unlike all body plan that makes both of these groups well suited for studying other major modes of snake locomotion, rectilinear locomotion does the neural control of rhythmic axial movements (Cohen, 1988). not involve axial bending, and the mechanisms of propulsion and Furthermore, snakes use different modes of locomotion in a variety modulating speed are not well understood. We integrated of environments, which facilitates investigating the diversity and electromyograms and kinematics of boa constrictors to test plasticity of axial motor patterns. Lissmann’s decades-old hypotheses of activity of the Most previous studies recognize at least four major modes of costocutaneous superior (CCS) and inferior (CCI) muscles and the terrestrial snake locomotion (Mosauer, 1932; Gray, 1968; Gans, intrinsic cutaneous interscutalis (IS) muscle during rectilinear 1974; Jayne, 1986; Cundall, 1987), but rectilinear is the only one of locomotion. -
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. -
Biological System Models Reproducing Snakes’ Musculoskeletal System
The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems October 18-22, 2010, Taipei, Taiwan Biological System Models Reproducing Snakes’ Musculoskeletal System Kousuke Inoue, Kaita Nakamura, Masatoshi Suzuki, Yoshikazu Mori, Yasuhiro Fukuoka and Naoji Shiroma Abstract— Snakes are very unique animals that have dis- including the interaction in order to elucidate the mechanism tinguished motor function adaptable to the most diverse en- of emerging animals’ adaptive motor functions. vironments in terrestrial animals regardless of their simple cord-shaped body. Revealing the mechanism underlying this B. Previous works on snakes’ locomotion mechanisms distinct locomotion pattern, which is fundamentally different from walking, is signifficant not only in biolgical field but The researches on snakes in biology have been conducted also for applications in engineering firld. However, it has mainly on taxonomy, anatomy and snake poison and there been difficult to clarify this adaptive function, emerging from are few researches on snake locomotion until now. In lo- dynamic interaction between body, brain and environment, comotion studies [1]-[15], analytical discussions have been by previous scientific methodologies based on reductionism, carried out based on kinematics recording with respect to where understanding of the total system is approached by analyzing specific individual elements. In this research, we aim specific locomotion modes or EMG recording with a few at revealing the mechanisms underlying this adaptability by muscles that are said to be dominant for locomotion. For the use of the constructive methodology, in which biological example, Jayne [10] records EMG with the three dominant system models reflecting biological knowledge is used as a tool muscles with lateral undulation locomotion in terrestrial and for analysis of the total system. -
Studies on Amphisbaenids
STUDIES ON AMPHISBAENIDS (AMPHISBAENJA, REPTILIA) 1. A TAXONOMIC REVISION OF THE TROGONOPHINAE, AND A FUNC- TIONAL INTERPRETATION OF THE AMPHISBAENID ADAPTIVE PATTERN CARL GANS BULLETIN OF THE AMERICAN MUSEUM OF NATURAL HISTORY VOLUME 119 : ARTICLE 3 NEW YORK: 1960 STUDIES ON AMPHISBAENIDS (AMPHISBAENIA, REPTILIA) STUDIES ON AMPHISBAENIDS (AMPHISBAENIA, REPTILIA) 1. A TAXONOMIC REVISION OF THE TROGONOPHINAE, AND A FUNCTIONAL INTERPRETATION OF THE AMPHIS- BAENID ADAPTIVE PATTERN CARL GANS Research Associate, Department of Amphibians and Reptiles The American Museum of Natural History Department of Biology, The University of Buffalo Buffalo, New York Carnegie Museum, Pittsburgh, Pennsylvania BULLETIN OF THE AMERICAN MUSEUM OF NATURAL HISTORY VOLUME 119 : ARTICLE 3 NEW YORK 1960 BULLETIN OF THE AMERICAN MUSEUM OF NATURAL HISTORY Volume 119, article 3, pages 129-204, text figures 1-32, plate 45, tables 1-3 Issued May 23, 1960 Price: $1.50 a copy CONTENTS INTRODUCTION. * * * 4 135 A TAXONOMIC REVISION OF THE TROGONOPHINAE * . * * * * * 136 Material. * . * * * - 136 Discussion of Characters. * . * * * * 139 Shape and Scutellation of Head. * . X 139 Diplometopon. * . * . - 139 Other Acrodont Forms. * * * * 141 Posterior Integument ............. * . * * . * . 141 Diplometopon. ****** * . o* * * * * 141 Other Acrodont Forms. * * * * 144 Color Pattern ................ * * * * * * . * . 146 Skull. *. s* * * * * 147 General Comparison ............ * * * * * . * @ 147 Trogonophis. * . * * * * 149 Pachycalamus. * . * . e 153 *****. *- * * * - Diplometopon. -
Digit Evolution in Gymnophthalmid Lizards JULIANA G
Int. J. Dev. Biol. 58: 895-908 (2014) doi: 10.1387/ijdb.140255jg www.intjdevbiol.com Digit evolution in gymnophthalmid lizards JULIANA G. ROSCITO*,1, PEDRO M.S. NUNES2 and MIGUEL T. RODRIGUES1 1Departamento de Zoologia, Instituto de Biociências, Universidade de São Paulo-SP and 2Departamento de Zoologia, Centro de Ciências Biológicas, Universidade Federal de Pernambuco, Brazil ABSTRACT The tetrapod limb is a highly diverse structure, and reduction or loss of this structure accounts for many of the limb phenotypes observed within species. Squamate reptiles are one of the many tetrapod lineages in which the limbs have been greatly modified from the pentadactyl generalized pattern, including different degrees of reduction in the number of limb elements to complete limblessness. Even though limb reduction is widespread, the evolutionary and develop- mental mechanisms involved in the formation of reduced limb morphologies remains unclear. In this study, we present an overview of limb morphology within the microteiid lizard group Gymn- ophthalmidae, focusing on digit arrangement. We show that there are two major groups of limb- reduced gymnophthalmids. The first group is formed by lizard-like (and frequently pentadactyl) species, in which minor reductions (such as the loss of 1-2 phalanges mainly in digits I and V) are the rule; these morphologies generally correspond to those seen in other squamates. The second group is formed by species showing more drastic losses, which can include the absence of an ex- ternally distinct limb in adults. We also present the expression patterns of Sonic Hedgehog (Shh) in the greatly reduced fore and hindlimb of a serpentiform gymnophthalmid. -
From Four Sites in Southern Amazonia, with A
Bol. Mus. Para. Emílio Goeldi. Cienc. Nat., Belém, v. 4, n. 2, p. 99-118, maio-ago. 2009 Squamata (Reptilia) from four sites in southern Amazonia, with a biogeographic analysis of Amazonian lizards Squamata (Reptilia) de quatro localidades da Amazônia meridional, com uma análise biogeográfica dos lagartos amazônicos Teresa Cristina Sauer Avila-PiresI Laurie Joseph VittII Shawn Scott SartoriusIII Peter Andrew ZaniIV Abstract: We studied the squamate fauna from four sites in southern Amazonia of Brazil. We also summarized data on lizard faunas for nine other well-studied areas in Amazonia to make pairwise comparisons among sites. The Biogeographic Similarity Coefficient for each pair of sites was calculated and plotted against the geographic distance between the sites. A Parsimony Analysis of Endemicity was performed comparing all sites. A total of 114 species has been recorded in the four studied sites, of which 45 are lizards, three amphisbaenians, and 66 snakes. The two sites between the Xingu and Madeira rivers were the poorest in number of species, those in western Amazonia, between the Madeira and Juruá Rivers, were the richest. Biogeographic analyses corroborated the existence of a well-defined separation between a western and an eastern lizard fauna. The western fauna contains two groups, which occupy respectively the areas of endemism known as Napo (west) and Inambari (southwest). Relationships among these western localities varied, except between the two northernmost localities, Iquitos and Santa Cecilia, which grouped together in all five area cladograms obtained. No variation existed in the area cladogram between eastern Amazonia sites. The easternmost localities grouped with Guianan localities, and they all grouped with localities more to the west, south of the Amazon River.