Running in cheetahs, gazelles, and goats: energy cost and limb configuration

Taylor, C. A.; Shkolnik, Amiram; Dmi'el, Razi; Baharav, Dan; Borut, Arieh

doi:10.1152/ajplegacy.1974.227.4.848

Cited by 122 publications

(96 citation statements)

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“…In support of this idea, Myers and Steudel (Myers and Steudel, 1985) found that artificial alterations in human limb mass that alter kinetic energy of the limb can result in significant changes in COT. Yet Taylor et al (Taylor et al, 1974) suggest no difference in COT or iCOT in a comparison of cheetahs, goats and gazelles that were similar in size but differed markedly in limb morphology, although statistical analysis was not performed on the results. Phylogenetic non-independence may also confound interpretation of these and other tests of 'cursorial morphology' (e.g.…”

Section: Discussionmentioning

confidence: 99%

Locomotor trade-offs in mice selectively bred for high voluntary wheel running

Dlugosz

Chappell

McGillivray

et al. 2009

Journal of Experimental Biology

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SUMMARYWe investigated sprint performance and running economy of a unique 'mini-muscle' phenotype that evolved in response to selection for high voluntary wheel running in laboratory mice (Mus domesticus). Mice from four replicate selected (S) lines run nearly three times as far per day as four control lines. The mini-muscle phenotype, resulting from an initially rare autosomal recessive allele, has been favoured by the selection protocol, becoming fixed in one of the two S lines in which it occurred. In homozygotes, hindlimb muscle mass is halved, mass-specific muscle oxidative capacity is doubled, and the medial gastrocnemius exhibits about half the mass-specific isotonic power, less than half the mass-specific cyclic work and power, but doubled fatigue resistance. We hypothesized that mini-muscle mice would have a lower whole-animal energy cost of transport (COT), resulting from lower costs of cycling their lighter limbs, and reduced sprint speed, from reduced maximal force production. We measured sprint speed on a racetrack and slopes (incremental COT, or iCOT) and intercepts of the metabolic rate versus speed relationship during voluntary wheel running in 10 mini-muscle and 20 normal S-line females. Mini-muscle mice ran faster and farther on wheels, but for less time per day. Mini-muscle mice had significantly lower sprint speeds, indicating a functional trade-off. However, contrary to predictions, mini-muscle mice had higher COT, mainly because of higher zero-speed intercepts and postural costs (intercept-resting metabolic rate). Thus, mice with altered limb morphology after intense selection for running long distances do not necessarily run more economically.

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Section: Discussionmentioning

confidence: 99%

Locomotor trade-offs in mice selectively bred for high voluntary wheel running

Dlugosz

Chappell

McGillivray

et al. 2009

Journal of Experimental Biology

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“…To gain insight into how differences in limb mass and mass distribution influence the metabolic energy consumed during locomotion, Taylor et al (1974) monitored oxygen consumption in cheetahs, gazelles and goats -three taxa similar in body mass yet different in limb mass and its distribution -locomoting over a similar range of speeds. Surprisingly, they found that differences in oxygen consumption (a direct measure of energy expenditure) were negligible among the three species.…”

Section: Does Inertia Necessitate Flexion?mentioning

confidence: 99%

“…Surprisingly, they found that differences in oxygen consumption (a direct measure of energy expenditure) were negligible among the three species. One possible reason for minimal differences in locomotor costs among these taxa might be differences in flexion of the limbs (not measured by Taylor et al, 1974), with the more distally heavy limbs of the cheetah being flexed more in comparison to species with more distally light limbs (i.e. kinematic adjustments that influence the MOI during swing).…”

Section: Does Inertia Necessitate Flexion?mentioning

confidence: 99%

Morphology and motion: hindlimb proportions and swing phase kinematics in terrestrially locomoting charadriiform birds

Kilbourne

Andrada

Fischer

et al. 2016

Journal of Experimental Biology

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Differing limb proportions in terms of length and mass, as well as differences in mass being concentrated proximally or distally, influence the limb's moment of inertia (MOI), which represents its resistance to being swung. Limb morphology -including limb segment proportions -thus probably has direct relevance for the metabolic cost of swinging the limb during locomotion. However, it remains largely unexplored how differences in limb proportions influence limb kinematics during swing phase. To test whether differences in limb proportions are associated with differences in swing phase kinematics, we collected hindlimb kinematic data from three species of charadriiform birds differing widely in their hindlimb proportions: lapwings, oystercatchers and avocets. Using these three species, we tested for differences in maximum joint flexion, maximum joint extension and range of motion (RoM), in addition to differences in maximum segment angular velocity and excursion. We found that the taxa with greater limb MOI -oystercatchers and avocets -flex their limbs more than lapwings. However, we found no consistent differences in joint extension and RoM among species. Likewise, we found no consistent differences in limb segment angular velocity and excursion, indicating that differences in limb inertia in these three avian species do not necessarily underlie the rate or extent of limb segment movements. The observed increased limb flexion among these taxa with distally heavy limbs resulted in reduced MOI of the limb when compared with a neutral pose. A trade-off between exerting force to actively flex the limb and potential savings by a reduction of MOI is skewed towards reducing the limb's MOI as a result of MOI being in part a function of the radius of gyration squared. Increased limb flexion is a likely means to lower the cost of swinging the limbs.

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“…As a measure for the energy efficiency, we use cost of transportation (COT ) which is widely used in the literature (see [27][28][29]). This dimensionless index can be calculated as follows:…”

Section: Problem Statementmentioning

confidence: 99%

Piecewise linear spine for speed–energy efficiency trade-off in quadruped robots

Khoramshahi

Bidgoly

Shafiee

et al. 2013

Robotics and Autonomous Systems

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h i g h l i g h t s• Effects of flexible spine on performance of bounding quadrupeds are studied.• Superiority of nonlinear spines over linear ones is shown.• High performance is explained by energy storage-release profile of nonlinear springs.• Results are justified through a behavioral analogy with biology. a r t i c l e i n f o t r a c tWe compare the effects of linear and piecewise linear compliant spines on locomotion performance of quadruped robots in terms of energy efficiency and locomotion speed through a set of simulations and experiments. We first present a simple locomotion system that behaviorally resembles a bounding quadruped with flexible spine. Then, we show that robots with linear compliant spines have higher locomotion speed and lower cost of transportation in comparison with those with rigid spine. However, in linear case, optimal speed and minimum cost of transportation are attained at very different spine compliance values. Moreover, it is verified that fast and energy efficient locomotion can be achieved together when the spine flexibility is piecewise linear. Furthermore, it is shown that the robot with piecewise linear spine is more robust against changes in the load it carries. Superiority of piecewise linear spines over linear and rigid ones is additionally confirmed by simulating a quadruped robot in Webots and experiments on a crawling two-parts robot with flexible connection.

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Running in cheetahs, gazelles, and goats: energy cost and limb configuration

Cited by 122 publications

References 0 publications

Locomotor trade-offs in mice selectively bred for high voluntary wheel running

Locomotor trade-offs in mice selectively bred for high voluntary wheel running

Morphology and motion: hindlimb proportions and swing phase kinematics in terrestrially locomoting charadriiform birds

Piecewise linear spine for speed–energy efficiency trade-off in quadruped robots

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