Effect of Slope Degree on the Lateral Bending in Gekko geckos

Wang, Zhouyi; Cai, Lei; Li, Wei; Ji, Aihong; Wang, Wenbo; Dai, Zhendong

doi:10.1016/s1672-6529(14)60116-5

Cited by 18 publications

(7 citation statements)

References 40 publications

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“…Considerable variation occurs among sprawling species as to the relative importance of each, with different lizards employing qualitatively different amounts of spine bending versus limb propulsion [23][24][25]. Multiple hypotheses have been developed to explain the role the spine might play in sprawled locomotion: it may speed up locomotion [4,26,27]; increase turning ability [16,28]; stabilize the body to prevent slipping [18,29] or alternatively enhance energy efficiency while moving [30,31]. However, it is difficult to investigate this variation since changes in spine use are often coupled with variation in limb development making comparative studies difficult [23,32].…”

Section: (C) Altering the Range Of Motionmentioning

confidence: 99%

Using a biologically mimicking climbing robot to explore the performance landscape of climbing in lizards

et al. 2021

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Locomotion is a key aspect associated with ecologically relevant tasks for many organisms, therefore, survival often depends on their ability to perform well at these tasks. Despite this significance, we have little idea how different performance tasks are weighted when increased performance in one task comes at the cost of decreased performance in another. Additionally, the ability for natural systems to become optimized to perform a specific task can be limited by structural, historic or functional constraints. Climbing lizards provide a good example of these constraints as climbing ability likely requires the optimization of tasks which may conflict with one another such as increasing speed, avoiding falls and reducing the cost of transport (COT). Understanding how modifications to the lizard bauplan can influence these tasks may allow us to understand the relative weighting of different performance objectives among species. Here, we reconstruct multiple performance landscapes of climbing locomotion using a 10 d.f. robot based upon the lizard bauplan, including an actuated spine, shoulders and feet, the latter which interlock with the surface via claws. This design allows us to independently vary speed, foot angles and range of motion (ROM), while simultaneously collecting data on climbed distance, stability and efficiency. We first demonstrate a trade-off between speed and stability, with high speeds resulting in decreased stability and low speeds an increased COT. By varying foot orientation of fore- and hindfeet independently, we found geckos converge on a narrow optimum of foot angles (fore 20°, hind 100°) for both speed and stability, but avoid a secondary wider optimum (fore −20°, hind −50°) highlighting a possible constraint. Modifying the spine and limb ROM revealed a gradient in performance. Evolutionary modifications in movement among extant species over time appear to follow this gradient towards areas which promote speed and efficiency.

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Section: (C) Altering the Range Of Motionmentioning

confidence: 99%

Using a biologically mimicking climbing robot to explore the performance landscape of climbing in lizards

et al. 2021

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“…Considerable variation occurs among sprawling species as to the relative importance of each, with different lizards employing qualitatively different amounts of spine bending vs limb propulsion (27,28). Multiple hypotheses have been developed to explain the role the spine might play in sprawled locomotion: it may speed up locomotion (4,29,30); increase turning ability (17,31); stabilize the body to prevent slipping (13,32); or alternatively enhance energy efficiency while moving (33). However, it is difficult to investigate this variation since changes in spine use is often coupled with variation in limb development making comparative studies difficult (11,27).…”

Section: Resultsmentioning

confidence: 99%

Using a biologically mimicking climbing robot to explore the performance landscape of climbing in lizards

Beck

Haagensen

Proost

et al. 2021

Preprint

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The life and death of an organism often depends on its ability to perform well at some ecologically relevant task. Yet despite this significance we have little idea how well species are optimised for competing locomotor tasks. Most scientists generally accept that the ability for natural systems to become optimised for a specific task is limited by structural, historic or functional constraints. Climbing lizards provide a good example of constraint where climbing ability requires the optimization of conflicting tasks such as speed, stability, or efficiency. Here we reconstruct multiple performance landscapes of climbing locomotion using a 10-DOF robot based upon the lizard bauplan, including an actuated spine, shoulders, and feet, the latter which interlock with the surface via claws. This design allows us to independently vary speed, foot angles, and range of motion, while simultaneously collecting data on climbed distance, stability and efficiency. We first demonstrate a trade-off between speed and stability with high speeds resulting in decreased stability and low speeds an increased cost of transport. By varying foot orientation of fore and hindfeet independently, we found geckos converge on a narrow optimum for both speed and stability, but avoid a secondary wider optimum highlighting a possible constraint. Modifying the spine and limb range of movement revealed a gradient in performance. Evolutionary modifications in movement among extant species appear to follow this gradient towards areas which promote speed and efficiency. This approach can give us a better understanding about locomotor optimization, and provide inspiration for industrial and search-and-rescue robots.Significance StatementClimbing requires the optimization of conflicting tasks such as speed, stability, or efficiency, but understanding the relative importance of these competing performance traits is difficult.We used a highly modular bio-inspired climbing robot to reconstruct performance landscapes for climbing lizards. We then compared the performance of extant species onto these and show strong congruence with lizard phenotypes and robotic optima.Using this method we can show why certain phenotypes are not present among extant species, illustrating why these would be potentially mal-adaptive.These principles may be useful to compare with relative rates of evolution along differing evolutionary histories. It also highlights the importance of biological inspiration towards the optimization of industrial climbing robots, which like lizards, must negotiate complex environments.

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“…To verify the effectiveness of the optimized trajectory in Section 3.3 , the energy consumption experiments are carried out, as shown in Figure 10 . According to bionic research on gecko, the sinusoidal curve fitting the trajectory of the gecko's waist is applied to contrast with optimized trajectory [ 24 , 26 ]. And the current sensors are adopted to obtain the instantaneous current values of motors.…”

Section: Experiments and Resultsmentioning

confidence: 99%

The Gait Design and Trajectory Planning of a Gecko-Inspired Climbing Robot

Wang

et al. 2018

Applied Bionics and Biomechanics

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Inspired by the dynamic gait adopted by gecko, we had put forward GPL (Gecko-inspired mechanism with a Pendular waist and Linear legs) model with one passive waist and four active linear legs. To further develop dynamic gait and reduce energy consumption of climbing robot based on the GPL model, the gait design and trajectory planning are addressed in this paper. According to kinematics and dynamics of GPL, the trot gait and continuity analysis are executed. The effects of structural parameters on the supporting forces are analyzed. Moreover, the trajectory of the waist is optimized based on system energy consumption. Finally, a bioinspired robot is developed and the prototype experiment results show that the larger body length ratio, a certain elasticity of the waist joint, and the optimized trajectory contribute to a decrease in the supporting forces and reduction in system energy consumption, especially negative forces on supporting feet. Further, the results in our experiments partly explain the reasonability of quadruped reptile's kinesiology during dynamic gait.

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Effect of Slope Degree on the Lateral Bending in Gekko geckos

Cited by 18 publications

References 40 publications

Using a biologically mimicking climbing robot to explore the performance landscape of climbing in lizards

Using a biologically mimicking climbing robot to explore the performance landscape of climbing in lizards

Using a biologically mimicking climbing robot to explore the performance landscape of climbing in lizards

The Gait Design and Trajectory Planning of a Gecko-Inspired Climbing Robot

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