Abstract-Traditional motion planning approaches for multilegged locomotion divide the problem into several stages, such as contact search and trajectory generation. However, reasoning about contacts and motions simultaneously is crucial for the generation of complex whole-body behaviors. Currently, coupling theses problems has required either the assumption of a fixed gait sequence and flat terrain condition, or non-convex optimization with intractable computation time. In this paper, we propose a mixed-integer convex formulation to plan simultaneously contact locations, gait transitions and motion, in a computationally efficient fashion. In contrast to previous works, our approach is not limited to flat terrain nor to a pre-specified gait sequence. Instead, we incorporate the friction cone stability margin, approximate the robot's torque limits, and plan the gait using mixed-integer convex constraints. We experimentally validated our approach on the HyQ robot by traversing different challenging terrains, where non-convexity and flat terrain assumptions might lead to sub-optimal or unstable plans. Our method increases the motion robustness while keeping a low computation time.

A paramount challenge in coral reef ecology is to estimate the abundance and composition of the communities residing in such complex ecosystems. Traditional 2D projected surface cover estimates neglect the 3D structure of reefs and reef organisms, overlook communities residing in cryptic reef habitats (e.g., overhangs, cavities), and thus may fail to represent biomass estimates needed to assess trophic ecology and reef function. Here, we surveyed the 3D surface cover, biovolume, and biomass (i.e., ash-free dry weight) of all major benthic taxa on 12 coral reef stations on the island of Curaçao (Southern Caribbean) using structure-from-motion photogrammetry, coral point counts, in situ measurements, and elemental analysis. We then compared our 3D benthic community estimates to corresponding estimates of traditional 2D projected surface cover to explore the differences in benthic community composition using different metrics. Overall, 2D cover was dominated (52 ± 2%, mean ± SE) by non-calcifying phototrophs (macroalgae, turf algae, benthic cyanobacterial mats), but their contribution to total reef biomass was minor (3.2 ± 0.6%). In contrast, coral cover (32 ± 2%) more closely resembled coral biomass (27 ± 6%). The relative contribution of erect organisms, such as gorgonians and massive sponges, to 2D cover was twofold and 11-fold lower, respectively, than their contribution to reef biomass. Cryptic surface area (3.3 ± 0.2 m2 m−2planar reef) comprised half of the total reef substrate, rendering two thirds of coralline algae and almost all encrusting sponges (99.8%) undetected in traditional assessments. Yet, encrusting sponges dominated reef biomass (35 ± 18%). Based on our quantification of exposed and cryptic reef communities using different metrics, we suggest adjustments to current monitoring approaches and highlight ramifications for evaluating the ecological contributions of different taxa to overall reef function. To this end, our metric conversions can complement other benthic assessments to generate non-invasive estimates of the biovolume, biomass, and elemental composition (i.e., standing stocks of organic carbon and nitrogen) of Caribbean coral reef communities.

In the past decade, significant efforts have been made to describe fish-habitat associations. However, most studies have oversimplified actual connections between fish assemblages and their habitats by using univariate correlations. The purpose of this study was to identify the features of habitat forming corals that facilitate and influences assemblages of associated species such as fishes. For this we developed three-dimensional models of colonies of Acropora cervicornis to estimate geometry (length and height), structural complexity (i.e., volume, density of branches, etc.) and biological features of the colonies (i.e., live coral tissue, algae). We then correlated these colony characteristics with the associated fish assemblage using multivariate analyses. We found that geometry and complexity were better predictors of the structure of fish community, compared to other variables such as percentage of live coral tissue or algae. Combined, the geometry of each colony explained 40% of the variability of the fish assemblage structure associated with this coral species; 61% of the abundance and 69% of fish richness, respectively. Our study shows that three-dimensional reconstructions of discrete colonies of Acropora cervicornis provides a useful description of the colonial structural complexity and may explain a great deal of the variance in the structure of the associated coral reef fish community. This demonstration of the strongly trait-dependent ecosystem role of this threatened species has important implications for restoration and conservation efforts.

Purpose -The purpose of this paper is to generate a virtual knee angle reference to be followed by a knee prosthesis control, using an adaptive central pattern generator (CPG). Also, to study the feasibility of this approach to implement a continuous control strategy on the prosthesis. Design/methodology/approach -A CPG based on amplitude controlled phase oscillators (ACPOs) to track the current percentage of gait cycle on the prosthesis is proposed. Then, the virtual knee angle reference is generated along gait cycle, by interpolation with the corresponding angle of a sound knee. The structure and coupling of the CPG, as well as the control strategy are presented. Findings -The coupling of the CPG with real gait on the prosthesis was proven, regardless of gait speed. Also, it was found that the maximum knee angle reached during walking is proportional to gait speed. Finally, generation of virtual knee angle reference to be followed by a prosthesis is demonstrated.Research limitations/implications -As only one event detected along gait cycle was used to update the CPG phase, the response to gait speed changes might be slow. Updating the CPG with more events remains for a future work. Practical implications -The coupling of the CPG with real gait on the prosthesis results in a continuous gait cycle tracker, useful for any control strategy to be applied. Originality/value -It is the first time a bio-inspired concept as CPGs is applied to the prosthetic field. This could mean the beginning of a new era of cybernetic prostheses, which reproduce the lost limb and also the control functions of it.