Analyzing 3D Limb Kinematics of Drosophila Melanogaster for Robotic Platform Development

Goldsmith, Clarissa A.; Haustein, Moritz; Bockemühl, Till; Büschges, Ansgar; Szczecinski, Nicholas S.

doi:10.1007/978-3-031-20470-8_12

Cited by 8 publications

(31 citation statements)

References 16 publications

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“…To test for the DOF requirements to accurately model the kinematics of Drosophila legs for straight walking, we first constructed an initial reference model based on reported DOFs for Drosophila and other insects (Cruse and Bartling, 1995; Soler et al, 2004; Bender et al, 2010; Goldsmith et al, 2022; Lobato-Rios et al, 2022) ( Figure 2B-C ). The ThCx was implemented as ball-and-socket-like joint with all three DOFs, i.e.…”

Section: Resultsmentioning

confidence: 99%

“…Since the CxTr and FeTi are considered to be hinge joints in insects (Cruse and Bartling, 1995; Full and Ahn, 1995; Frantsevich and Wang, 2009), we only used the yaw DOF for those in our model. Two previously published models for Drosophila legs suggested that a roll DOF exists in either the TrFe (Goldsmith et al, 2022) or the CxTr (Lobato-Rios et al, 2022). However, to test if such an additional DOFs or joint was still necessary to model straight walking in our model with rotational axes based on anatomical landmarks, we chose to omit this DOF and initially fixed the whole TrFe and the CxTr-roll DOF.…”

Section: Resultsmentioning

confidence: 99%

“…The resulting rotational axes of the yaw DOF in all joints were therefore slanted and not aligned in an orthogonal orientation with regard to the leg segments ( Figure 6A ). By comparing our model with such oblique joint axes to a version with orthogonalized axes, which is a widespread modeling approach for kinematic leg chains in insects (Zakotnik et al, 2004; Petrou and Webb, 2012; Theunissen and Dürr, 2013; Goldsmith et al, 2022; Lobato-Rios et al, 2022), we found that our model had a smaller error in all three leg pairs most of the time. Additionally, the ROM for many DOFs, particularly for roll DOFs, differed substantially.…”

Section: Discussionmentioning

confidence: 99%

“…(Haustein, 2023). The here used motion capture data was partly published in two other studies (Goldsmith et al, 2022; Saltin et al, 2023).…”

Section: Acknowledgementsmentioning

confidence: 99%

“…Since in this approach the lengths of the segments and the joint rotational axes are preserved during movements, the postures resulting from these models can more accurately represent the actual alignment of body parts, such as legs, than 3D reconstructions based solely on singular joint positions. In fact, several 3D kinematic leg models have successfully been implemented in the last decades to study walking in stick insects (Zakotnik et al, 2004; Theunissen and Dürr, 2013; Dallmann et al, 2016), crickets (Petrou and Webb, 2012), ants (Arroyave-Tobon et al, 2022), and recently also in Drosophila (Goldsmith et al, 2022; Lobato-Rios et al, 2022). A challenge in developing accurate kinematic models is to define the correct parameters, for instance for segment lengths, number of DOFs of each joint, and the orientation of their rotational axes, as these design decisions directly affect the joint angles that will be obtained (Begon et al, 2018).…”

Section: Introductionmentioning

confidence: 99%

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A leg model based on anatomical landmarks to study 3D joint kinematics of walking inDrosophila melanogaster

Haustein,

Blanke,

Bockemühl

et al. 2024

Preprint

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Walking is the most common form of how animals move on land. The model organismDrosophila melanogasterhas become increasingly popular for studying how the nervous system controls behavior in general and walking in particular. Despite recent advances in tracking and modeling leg movements of walkingDrosophilain 3D, there are still gaps in knowledge about the biomechanics of leg joints due to the tiny size of fruit flies. For instance, the natural alignment of joint rotational axes was largely neglected in previous kinematic analyses. In this study we therefore present a detailed kinematic leg model in which not only the segment lengths but also the main rotational axes of the joints were derived from anatomical landmarks, namely the joint condyles. Our model with natural oblique joint axes is able to adapt to the 3D leg postures of straight and forward walking fruit flies with high accuracy. When we compared our model to an orthogonalized version, we observed that our model showed a smaller error as well as differences in the used range of motion (ROM), highlighting the advantages of modeling natural rotational axes alignment for the study of joint kinematics. We further found that the kinematic profiles of front, middle, and hind legs differed in the number of required degrees of freedom as well as their contributions to stepping, time courses of joint angles, and ROM. Our findings provide deeper insights into the joint kinematics of walking inDrosophila, and, additionally, help to develop dynamical, musculoskeletal, and neuromechanical simulations.

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Section: Resultsmentioning

confidence: 99%

Section: Resultsmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

“…(Haustein, 2023). The here used motion capture data was partly published in two other studies (Goldsmith et al, 2022; Saltin et al, 2023).…”

Section: Acknowledgementsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A leg model based on anatomical landmarks to study 3D joint kinematics of walking inDrosophila melanogaster

Haustein,

Blanke,

Bockemühl

et al. 2024

Preprint

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Comparison of Proximal Leg Strain in Locomotor Model Organisms Using Robotic Legs

Dinges

Zyhowski

Goldsmith

et al. 2023

Lecture Notes in Computer Science

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A biomimetic fruit fly robot for studying the neuromechanics of legged locomotion

Goldsmith,

Haustein,

Büschges

et al. 2024

Preprint

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For decades, the field of biologically inspired robotics has leveraged insights from animal locomotion to improve the walking ability of legged robots. Recently, “biomimetic” robots have been developed to model how specific animals walk. By prioritizing biological accuracy to the target organism rather than the application of general principles from biology, these robots can be used to develop detailed biological hypotheses for animal experiments, ultimately improving our understanding of the biological control of legs while improving technical solutions. In this work, we report the development and validation of the robot Drosophibot II, a meso-scale robotic model of an adult fruit fly,Drosophila melanogaster. This robot is novel for its close attention to the kinematics and dynamics ofDrosophila, an increasingly important model of legged locomotion. Each leg’s proportions and degrees of freedom have been modeled afterDrosophila3D pose estimation data. We developed a program to automatically solve the inverse kinematics necessary for walking and solve the inverse dynamics necessary for mechatronic design. By applying this solver to a fly-scale body structure, we demonstrate that the robot’s dynamics fits those modeled for the fly. We validate the robot’s ability to walk forward and backward via open-loop straight line walking with biologically inspired foot trajectories. This robot will be used to test biologically inspired walking controllers informed by the morphology and dynamics of the insect nervous system, which will increase our understanding of how the nervous system controls legged locomotion.

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Analyzing 3D Limb Kinematics of Drosophila Melanogaster for Robotic Platform Development

Cited by 8 publications

References 16 publications

A leg model based on anatomical landmarks to study 3D joint kinematics of walking inDrosophila melanogaster

A leg model based on anatomical landmarks to study 3D joint kinematics of walking inDrosophila melanogaster

Comparison of Proximal Leg Strain in Locomotor Model Organisms Using Robotic Legs

A biomimetic fruit fly robot for studying the neuromechanics of legged locomotion

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