Kinematics of gecko climbing: the lateral undulation pattern

Zoology ◽  
2020 ◽  
Vol 140 ◽  
pp. 125768 ◽  
Author(s):  
Wei Wang ◽  
Aihong Ji ◽  
Guangming Chen ◽  
Sridhar Ravi ◽  
Huan Shen ◽  
...  
Keyword(s):  
Lateral Undulation

scholarly journals Slithering CSF: Cerebrospinal Fluid Dynamics in the Stationary and Moving Viper Boa, Candoia aspera

Biology ◽  
2021 ◽  
Vol 10 (7) ◽  
pp. 672
Author(s):  
Bruce A. Young ◽  
Skye Greer ◽  
Michael Cramberg
Keyword(s):  
Cerebrospinal Fluid ◽  
Cardiac Cycle ◽  
Low Frequency ◽  
Mean Amplitude ◽  
The Body ◽  
Body Waves ◽  
Lower Amplitude ◽  
Lateral Undulation ◽  
Recovery From Anesthesia ◽  
The Relationship

In the viper boa (Candoia aspera), the cerebrospinal fluid (CSF) shows two stable overlapping patterns of pulsations: low-frequency (0.08 Hz) pulses with a mean amplitude of 4.1 mmHg that correspond to the ventilatory cycle, and higher-frequency (0.66 Hz) pulses with a mean amplitude of 1.2 mmHg that correspond to the cardiac cycle. Manual oscillations of anesthetized C. aspera induced propagating sinusoidal body waves. These waves resulted in a different pattern of CSF pulsations with frequencies corresponding to the displacement frequency of the body and with amplitudes greater than those of the cardiac or ventilatory cycles. After recovery from anesthesia, the snakes moved independently using lateral undulation and concertina locomotion. The episodes of lateral undulation produced similar influences on the CSF pressure as were observed during the manual oscillations, though the induced CSF pulsations were of lower amplitude during lateral undulation. No impact on the CSF was found while C. aspera was performing concertina locomotion. The relationship between the propagation of the body and the CSF pulsations suggests that the body movements produce an impulse on the spinal CSF.

Magnetic Soft Robot With the Triangular Head–Tail Morphology Inspired By Lateral Undulation

2020 ◽  
Vol 25 (6) ◽  
pp. 2688-2699 ◽  
Author(s):  
Laliphat Manamanchaiyaporn ◽  
Tiantian Xu ◽  
Xinyu Wu
Keyword(s):  
Soft Robot ◽  
Lateral Undulation

scholarly journals Red muscle function in stiff-bodied swimmers: there and almost back again

2011 ◽  
Vol 366 (1570) ◽  
pp. 1507-1515 ◽  
Author(s):  
Douglas A. Syme ◽  
Robert E. Shadwick
Keyword(s):  
Body Size ◽  
Muscle Function ◽  
Tail Region ◽  
Red Muscle ◽  
Lateral Undulation ◽  
Thresher Shark ◽  
Swimming Mode ◽  
The Common ◽  
Undulatory Swimming

Fishes with internalized and endothermic red muscles (i.e. tunas and lamnid sharks) are known for a stiff-bodied form of undulatory swimming, based on unique muscle–tendon architecture that limits lateral undulation to the tail region even though the red muscle is shifted anteriorly. A strong convergence between lamnid sharks and tunas in these features suggests that thunniform swimming might be evolutionarily tied to this specialization of red muscle, but recent observations on the common thresher shark ( Alopias vulpinus ) do not support this view. Here, we review the fundamental features of the locomotor systems in lamnids and tunas, and present data on in vivo muscle function and swimming mechanics in thresher sharks. These results suggest that the presence of endothermic and internalized red muscles alone in a fish does not predict or constrain the swimming mode to be thunniform and, indeed, that the benefits of this type of muscle may vary greatly as a consequence of body size.

A Novel Concept of Biomorphic Hyper-Redundant Snake Robot

2019 ◽  
Vol 2 (1) ◽  
pp. 33-49
Author(s):  
Yash Dinesh Shethwala ◽  
Ravi Pravinbhai Patel ◽  
Darshankumar Rajendrakumar Shah ◽  
Saurin M. Sheth
Keyword(s):  
Human Detection ◽  
Loss Of Life ◽  
Snake Robot ◽  
Pcb Design ◽  
Lateral Undulation ◽  
Novel Concept ◽  
Excellent Property ◽  
Natural Calamity ◽  
Great Damage ◽  
Robot Body

Disaster is a sudden accident or a natural calamity that causes great damage or loss of life and property. In any disastrous conditions, a lot of manpower is wasted and still unable to save some lives. A biomorphic hyper-redundant snake-like robot may help in such situations. Its excellent property of getting into small spaces and ability to traverse along any surface can be very helpful in search and rescue operations. These robots can help to locate humans in a disaster and provide precise information about its condition to rescuers. It can also be used in other domains like military, underwater, aerospace, and nuclear. In this research, the mechanical modelling and simulation of snake robot body have been carried out. Different speeds have been achieved on various surfaces where the snake robot has to traverse. An algorithm is proposed for human detection based on a YOLO algorithm. PCB design for the power supply is carried out and two types of gait motion (lateral undulation and side winding) have been achieved by the snake robot.

Lateral undulation of the bendable body of a gecko-inspired robot for energy-efficient inclined surface climbing

2021 ◽  
pp. 1-1
Author(s):  
Worasuchad Haomachai ◽  
Donghao Shao ◽  
Wei Wang ◽  
Aihong Ji ◽  
Zhendong Dai ◽  
...  
Keyword(s):  
Energy Efficient ◽  
Lateral Undulation ◽  
Inclined Surface

The role of the tail in channel passage by the sand skink, Neoseps reynoldsi

1992 ◽  
Vol 13 (4) ◽  
pp. 393-403 ◽  
Author(s):  
Henry R. Mushinsky ◽  
Carl Gans
Keyword(s):  
Flat Surface ◽  
Static Friction ◽  
Lower Mass ◽  
Forward Movement ◽  
Anterior Portion ◽  
Posterior Portion ◽  
Tail Autotomy ◽  
Before And After ◽  
Lateral Undulation

AbstractThirteen sand skinks, Neoseps reynoldsi, were observed and videotaped traversing variously spaced plexiglass channels and spacings of pins to investigate locomotory patterns of a slender elongate lizard, with reduced limbs. Five individuals were recorded both before and after tail autotomy. Neoseps moves its limbs in locomotion on a flat surface; the hindlimbs participate in propulsion and their position, relative to their body, reflects the curvature of the trunk. Distance between pins, width of the plexiglass channel, and surface texture influence locomotory patterns. Individuals move more rapidly in wide channels, and movement is most irregular in channels with sandpaper floors. Whether on a plexiglass or a sandpaper floor, individuals travel more rapidly down the 2cm wide channel than the 1 cm channel. Fewer bends in the trunk in the wider channels may allow for more rapid movement. Autotomy of the tail slows movement on a plexiglass or sandpaper floor. The anterior portion of the tail contributes to the establishment of a static friction site that is jerked toward the head during locomotion, advancing the center of gravity in that direction. From the new site the trunk can be straightened by pushing against the friction site. The posterior portion of a tailless individual slides backward as the trunk is straightened, slowing their forward movement. The backward slide may reflect the lower mass and reduced static friction of the partial tail. In channels, Neoseps uses limbed concertina rather than simple concertina to generate a propulsive force. Evolutionarily, it appears that elongation of the tail and trunk did not incorporate the capacity for lateral undulation; as the curves of the trunk and tail seem preprogrammed and do not adjust to local points of contact.

Locomotion in derived dicynodonts (Synapsida, Anomodontia): a functional analysis of the pelvic girdle and hind limb of Tetragonias njalilus

2006 ◽  
Vol 43 (9) ◽  
pp. 1297-1308 ◽  
Author(s):  
Jörg Fröbisch
Keyword(s):  
Functional Analysis ◽  
Hind Limb ◽  
Pelvic Girdle ◽  
The Body ◽  
Step Cycle ◽  
Biomechanical Stress ◽  
Hind Limbs ◽  
Gradual Evolution ◽  
Lateral Undulation ◽  
Limb Posture

A general locomotor model for derived dicynodont anomodonts is proposed on the basis of a functional analysis of the pelvic girdle and entire hind limb of the medium-sized Middle Triassic dicynodont Tetragonias njalilus. The joint mobility of the hind limb is examined, and a hind limb step cycle is reconstructed. The data provided in this case study indicate that Tetragonias adopted a highly adducted (upright) hind limb posture during stance and most of its stride. Nevertheless, lateral undulation of the vertebral column must also have contributed to the locomotion of dicynodonts. Character optimization of the traits associated with an upright posture of the hind limb shows a gradual evolution of dicynodont locomotion. The evolution of an upright hind limb posture has occurred several times independently in a number of amniote clades. Within synapsids, the Anomodontia, Dinocephalia, and Theriodontia acquired a parasagittal hind limb gait already as early as the late Paleozoic and early Mesozoic, prior to its evolution in mammals. This phenomenon has previously been explained as being related to an increase in body size as a response to increased biomechanical stress on the limb. This scenario appears plausible with respect to dicynodonts because of the occurrence of megaherbivore-sized taxa in the Triassic, but this study shows that a parasagittal gait had already evolved in the medium-sized basal kannemeyeriiform Tetragonias. Therefore, the vertical support of the body by the hind limbs in medium-sized dicynodonts could have allowed the evolution of the large Triassic taxa in the first place.

scholarly journals What Defines Different Modes of Snake Locomotion?

2020 ◽  
Vol 60 (1) ◽  
pp. 156-170 ◽  
Author(s):  
Bruce C Jayne
Keyword(s):  
Motor Pattern ◽  
Empirical Work ◽  
Current Data ◽  
The Body ◽  
Lateral Bending ◽  
Motor Patterns ◽  
Different Types ◽  
Lateral Undulation ◽  
Left And Right ◽  
Vertical Cylinders

Synopsis Animals move in diverse ways, as indicated in part by the wide variety of gaits and modes that have been described for vertebrate locomotion. Much variation in the gaits of limbed animals is associated with changing speed, whereas different modes of snake locomotion are often associated with moving on different surfaces. For several decades different types of snake locomotion have been categorized as one of four major modes: rectilinear, lateral undulation, sidewinding, and concertina. Recent empirical work shows that the scheme of four modes of snake locomotion is overly conservative. For example, during aquatic lateral undulation, the timing between muscle activity and lateral bending changes along the length of the snake, which is unlike terrestrial lateral undulation. The motor pattern used to prevent sagging while bridging gaps also suggests that arboreal lateral undulation on narrow surfaces or with a few discrete points of support has a different motor pattern than terrestrial lateral undulation when the entire length of the snake is supported. In all types of concertina locomotion, the distance from the head to the tail changes substantially as snakes alternately flex and then extend different portions of their body. However, snakes climbing cylinders with concertina exert forces medially to attain a purchase on the branch, whereas tunnels require pushing laterally to form an anchoring region. Furthermore, different motor patterns are used for these two types of concertina movement. Some snakes climb vertical cylinders with helical wrapping completely around the cylinder, whereas all other forms of concertina bend regions of the body alternately to the left and right. Current data support rectilinear locomotion and sidewinding as being distinct modes, whereas lateral undulation and concertina are best used for defining categories of gaits with some unifying similarities. Partly as a result of different motor patterns, I propose recognizing five and four distinct types of lateral undulation and concertina, respectively, resulting in a total of 11 distinct gaits previously recognized as only four.

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