Side-Impact Collision: Mechanics of Obstacle Negotiation in Sidewinding Snakes

Snakes excel at moving through cluttered environments, and heterogeneities can be used as propulsive contacts for snakes performing lateral undulation. However, sidewinding, often associated with sandy deserts, cuts a broad path through the environment that may increase the vulnerability to obstacles. Our prior work demonstrated that sidewinding can be represented as a pair of orthogonal body waves (vertical and horizontal) that can be independently modulated to achieve high maneuverability and incline ascent, suggesting that sidewinders may also use template modulations to negotiate obstacles. To test this hypothesis, we recorded overhead video of four sidewinder rattlesnakes (Crotalus cerastes) crossing a line of vertical pegs placed in the substrate. Snakes used three methods to traverse the obstacles: a Propagate Through behavior in which the lifted moving portion of the snake was deformed around the peg and dragged through as the snake continued sidewinding (115/160 runs), Reversal turns that reorient the snake entirely (35/160), or switching to Concertina locomotion (10/160). The Propagate-Through response was only used if the anterior-most region of static contact would propagate along a path anterior to the peg, or if a new region of static contact could be formed near the head to satisfy this condition; otherwise, snakes could only use Reversal Turns or switch to Concertina locomotion. Reversal Turns allowed the snake to re-orient and either escape without further peg contact or resorting to Propagate Through. We developed an algorithm to reproduce the Propagate Through behavior in a robotic model using a modulation of the two-wave template. This range of behavioral strategies provides sidewinders with a versatile range of options for effectively negotiating obstacles in their natural habitat, as well as provide insights into the design and control of robotic systems dealing with heterogeneous habitats.

Intraspecific sequence and gene expression variation contribute little to venom diversity in sidewinder rattlesnakes ( Crotalus cerastes )

Traits can evolve rapidly through changes in gene expression or protein-coding sequences. However, these forms of genetic variation can be correlated and changes to one can influence the other. As a result, we might expect traits lacking differential expression to preferentially evolve through changes in protein sequences or morphological adaptation. Given the lack of differential expression across the distribution of sidewinder rattlesnakes ( Crotalus cerastes ), we tested this hypothesis by comparing the coding regions of genes expressed in the venom gland transcriptomes and fang morphology. We calculated Tajima's D and F ST across four populations comparing toxin and nontoxin loci. Overall, we found little evidence of directional selection or differentiation between populations, suggesting that changes to protein sequences do not underlie the evolution of sidewinder venom or that toxins are under extremely variant selection pressures. Although low-expression toxins do not have higher sequence divergence between populations, they do have more standing variation on which selection can act. Additionally, we found significant differences in fang length among populations. The lack of differential expression and sequence divergence suggests sidewinders—given their generalist diet, moderate gene flow and environmental variation—are under stabilizing selection which functions to maintain a generalist phenotype. Overall, we demonstrate the importance of examining the relationship between gene expression and protein-coding changes to understand the evolution of complex traits.

Novel predator recognition by Allenby's gerbil (Gerbillus andersoni allenbyi): do gerbils learn to respond to a snake that can “see” in the dark?

Unlike desert rodents from North America, Allenby's gerbil (Gerbillus andersoni allenbyi) from the Negev Desert, Israel has evolved with snakes that do not have heat-sensitive sensory pits that enhance night vision. Does this history affect their ability to assess and respond to a snake that has this ability? As a test, we exposed gerbils to risk of predation from various predators, including snakes, owls, and foxes. The snakes included the Saharan horned viper (Cerastes cerastes) and the sidewinder rattlesnake (Crotalus cerastes). The former snake lacks sensory pits and shares a common evolutionary history with the gerbil. The latter snake, while convergent evolutionarily on the horned viper, has sensory pits and no prior history with the gerbil. The gerbils exploited depletable resource patches similarly, regardless of snake species and moon phase. While the gerbils did not respond to the novel snake as a greater threat than their familiar horned viper, the gerbils were cognizant that the novel predator was a threat. In response to both snakes, giving-up densities (GUDs; the amount of food left in a resource patch following exploitation) of the gerbils were higher in the bush than open microhabitat. In response to moonlight, GUDs were higher on full than on the new moon. Based on GUDs, the gerbils responded most to the risk of predation from the red fox, least from the two snake species, and intermediate for the barn owl.

Modulation of orthogonal body waves enables high maneuverability in sidewinding locomotion

Many organisms move using traveling waves of body undulation, and most work has focused on single-plane undulations in fluids. Less attention has been paid to multiplane undulations, which are particularly important in terrestrial environments where vertical undulations can regulate substrate contact. A seemingly complex mode of snake locomotion, sidewinding, can be described by the superposition of two waves: horizontal and vertical body waves with a phase difference of ±90°. We demonstrate that the high maneuverability displayed by sidewinder rattlesnakes (Crotalus cerastes) emerges from the animal’s ability to independently modulate these waves. Sidewinder rattlesnakes used two distinct turning methods, which we term differential turning (26° change in orientation per wave cycle) and reversal turning (89°). Observations of the snakes suggested that during differential turning the animals imposed an amplitude modulation in the horizontal wave whereas in reversal turning they shifted the phase of the vertical wave by 180°. We tested these mechanisms using a multimodule snake robot as a physical model, successfully generating differential and reversal turning with performance comparable to that of the organisms. Further manipulations of the two-wave system revealed a third turning mode, frequency turning, not observed in biological snakes, which produced large (127°) in-place turns. The two-wave system thus functions as a template (a targeted motor pattern) that enables complex behaviors in a high-degree-of-freedom system to emerge from relatively simple modulations to a basic pattern. Our study reveals the utility of templates in understanding the control of biological movement as well as in developing control schemes for limbless robots.