Abstract
Locomotion of tetrapods on land adapted to different environments and needs resulting in a variety of different gait styles. However, comparative analyses reveal common principles of limb movement control. Here, we report that a kinematic synergy involving the planar covariation of limb segment motion holds in 54 different animal species (10 birds and 44 mammals), despite large differences in body size, mass (ranging from 30 g to 4 tonnes), limb configuration, and amplitude of movements. This kinematic synergy lies at the interface between the neural command signals output by locomotor pattern generators, the mechanics of the body center of mass and the external environment, and it may represent one neuromechanical principle conserved in evolution to save mechanical energy.
Highlights
Terrestrial locomotion of animals has evolved in vastly different designs adapted to the specific habitat of each species (Hildebrand, 1976; Grillner, 1981)
We found that the planar covariation law of limb segment motions holds for walking in all recorded animal species, despite significant differences in body size, limb segment configuration and gait parameters (Figure 2 and Figure 2—figure supplement 2)
The results showed that, despite significant variations in body size, mass, limb configuration (Figure 2— figure supplement 1), stride duration (Figure 2—figure supplement 2D) and relative amplitude of angular movements (Figure 2), the planar law of inter-segmental coordination held in all studied mammals and birds (Figure 3—figure supplement 1 and Figure 4), suggesting that this kinematic synergy is ubiquitous in terrestrial locomotion
Summary
Terrestrial locomotion of animals has evolved in vastly different designs adapted to the specific habitat of each species (Hildebrand, 1976; Grillner, 1981). Following the pioneering program set up by Marey, one important research goal in the study of comparative physiology of movement is ‘to point out the laws which are common for all forms and manifestations of locomotion’ (Marey, 1874) This ambitious goal has not been reached yet, some general principles for terrestrial locomotion have emerged that apply to a wide range of animal species, mainly related to energy saving mechanisms (Alexander, 1989; Dickinson et al, 2000) on the one hand, and to the neural control of muscle activity patterns (Lacquaniti et al, 2013; Grillner, 2018) on the other hand
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