Dorsoventral Movement Research Articles

Muscular expression of pezo-1 differentially contributes to swimming and crawling production in the nematode C. elegans.

Mechanosensitive PIEZO ion channels are evolutionarily conserved proteins that are widely expressed in neuronal and muscular tissues. This study explores the role of the mechanoreceptor PEZO-1 in the body wall muscles of Caenorhabditis elegans, focusing on its influence on two locomotor behaviors, swimming and crawling. Using confocal imaging, we reveal that PEZO-1 localizes to the sarcolemma and plays a crucial role in modulating calcium dynamics that are important for muscle contraction. When we knocked down pezo-1 expression in striated muscles with RNA interference, calcium levels in head and tail muscles increased. While heightened, the overall trajectory of the calcium signal during the crawl cycle remained the same. While downregulation of pezo-1 led to an increase in crawling speed, it caused a reduction in swimming speed. Reduction in pezo-1 expression also resulted in the increased activation of the ventral tail muscles, and a disruption of dorsoventral movement asymmetry, a critical feature that enables propulsion in water. These alterations were correlated with impaired swimming posture and path curvature, suggesting that PEZO-1 has different functions during swimming and crawling.

Cervical anatomy and its relation to foraging habits in aquatic birds (Aves: Neornithes: Neoaves).

Birds have extremely flexible necks, which help in their search for food. However, studies on the variation in bird cervical anatomy and its relationship with foraging are rare, despite the different habits presented between species. Here, we analyze the anatomy of the neck of aquatic birds and relate it to their foraging strategies. We dissected specimens representing four species of Charadriiformes, 11 species of Phaethoquornithes, and two specimens belonging to the outgroup Telluraves. We chose to emphasize Charadriiformes and Phaethoquornithes because they present several strategies that require cervical mobility and stability. We note that vertebral anatomy and dimensions vary, which affects the shape and size of the soft tissues attached throughout the neck. The synovial cartilage present in the articulatio intercorporalis represents an additional length in the neck, however, this is not longer than that observed in animals with intervertebral discs. Our analysis indicates that birds have a prevalence of dorsoventral movements in the middle of the neck and lateral and rotational movements near the base of the neck, while the region near the head presents a wide range of movement in all directions. Cervical ligaments and muscles throughout the neck provide stability in all segments, although the robustness of the soft tissues indicates that the most caudal portion of the neck is the most stable. The vertebral and soft tissue anatomy is consistent with the extensive mobility in pitching, yaw, and roll movements performed mainly by the head and first segment of the neck during the different foraging of the analyzed birds. Furthermore, the muscles closer to the skull are robust and allow the execution of a variety of habits to capture food in different species. The subsequent cervical segments present differences that explain their reduction in mobility, but they are equally stable.

Water depth and speed may have an opposite effect on the trunk vertical displacement in horses trotting on a water treadmill.

To measure the trunk vertical displacement (VD) in horses trotting on a water treadmill (WT) at different water depths (WDs) and speeds. 6 sound Standardbred horses (median age 12 years [IQR:10.5-12]). The horses were trotted on a WT at 2 speeds (3.5 m/s and 5 m/s) and during 4 conditions: dry treadmill (DT), WD at mid-cannon (WD-CAN), mid-radius (WD-RAD), and shoulder (WD-SHOUL). The dorsoventral movement was obtained with accelerometers placed over the withers, thoracolumbar junction (T18), tuber sacrale (TS), and sacrum (S5). The VD was defined with the median value of the upward (Up) and downward (Down) amplitudes of the vertical excursion during each stride. The difference of VD at each sensor location was compared between the DT and the 3 WDs, and between the 2 trotting speeds for the same condition. The VD amplitudes were significantly increased at any sensor location when trotting in water at WD-CAN and WD-RAD compared to DT (P < .05 for all), with the highest increase at WD-RAD and T18. When the speed increased from 3.5 to 5 m/s, the VD amplitudes were significantly decreased at T18 at each water level (P = .03), and at WD-RAD only for the withers and TS (P = .03). Both water depth and speed affect the trunk VD in horses at trot on a WT with an opposite effect. The VD increases when increasing the WD up to mid-radius, while the VD decreases when increasing the trotting speed, with the main effects observed at the thoracolumbar junction.

A study using a canine hydrotherapy treadmill at five different conditions to kinematically assess range of motion of the thoracolumbar spine in dogs

Incline treadmill and underwater treadmill (UWTM) exercises are common canine rehabilitation modalities , which are often used in isolation in dogs recovering from spinal surgery. Early use of an incline during UWTM exercise may have the potential to improve rehabilitation outcomes in dogs, but, it is hypothesised that dorsoventral movement of the spine may be excessive meaning it is unsuitable in some circumstances. The purpose of this study was to identify changes in canine spinal kinematics in dogs when using a dry treadmill at different angles of incline compared to an underwater treadmill using the same inclines. Eight dogs were encouraged to walk on a dry, horizontal, underwater treadmill as well as under the same conditions with both a 10% and 20% incline. This was then repeated at a 10% and 20% incline with the addition of water to hock level. Data were collected using reflective anatomical markers placed at the occipital protuberance, T1, T13, L3, L7 and sacral apex, captured by a high-speed camera facing the lateral aspect of the treadmill. Dorsoventral motion of the spine as well as flexion, extension and range of motion (ROM) of T1, T13, L3 and L7 were recorded. We found significant differences in dorsoventral spinal ROM at T1, L3 and L7, but no significant differences in T13 ROM. No significant differences were found in flexion and extension of any of the joints assessed when comparing dry conditions to the use of water (P>0.05). The lack of significant differences in joint flexion and extension at T1, T13, L3 and L7 indicates the potential safe use of combining underwater treadmill and incline exercise in canine rehabilitation. However, a lack of uniformity in results makes distinguishing any patterns of significance difficult. More research is needed to establish the effects of these exercises in additional planes of motion before a treatment protocol can be established.

Modeling the musculoskeletal system of an insect thorax for flapping flight

Indirect actuation of the wings via thoracic deformation is a unique mechanism widely observed in flying insect species. The physical properties of the thorax have been intensively studied in terms of their ability to efficiently generate wingbeats. The basic mechanism of indirect wing actuation is generally explained as a lever model on a cross-sectional plane, where the dorsoventral movement of the mesonotum (dorsal exoskeleton of the mesothorax) generated by contractions of indirect muscles actuates the wing. However, the model considers the mesonotum as an ideal flat plane, whereas the mesonotum is hemispherical and becomes locally deformed during flight. Furthermore, the conventional model is two-dimensional; therefore, three-dimensional wing kinematics by indirect muscles have not been studied to date. In this study, we develop structural models of the mesonotum and mesothorax of the hawkmoth Agrius convolvuli, reconstructed from serial cross-sectional images. External forces are applied to the models to mimic muscle contraction, and mesonotum deformation and wing trajectories are analyzed using finite element analysis. We find that applying longitudinal strain to the mesonotum to mimic strain by depressor muscle contraction reproduces local deformation comparable to that of the thorax during flight. Furthermore, the phase difference of the forces applied to the depressor and elevator muscles changes the wing trajectory from a figure eight to a circle, which is qualitatively consistent with the tethered flight experiment. These results indicate that the local deformation of the mesonotum due to its morphology and the thoracic deformation via indirect power muscles can modulate three-dimensional wing trajectories.

3D kinematic of the thoracolumbar spine in Mangalarga Marchador horses performing the marcha batida gait and being led by hand-A preliminary report.

This study aimed to provide a preliminary description of the sagittal and transverse plane kinematics of the thoracolumbar spine of Mangalarga Marchador (MM) horses performing the marcha batida gait, led in-hand. We evaluated the pattern of angular movement and the mean amplitude of six specific angles. An optoelectronic system was used for 3D kinematic analysis (19 cameras, 250 Hz). They were positioned around the horses and an acquisition volume of 16 × 4.8 × 3 meters was used. Eight retroreflective markers were fixed on the spine of the animals over thoracic vertebrae 8 (T8), 12 (T12), 15 (T15) and 18 (T18); over the lumbar vertebrae 3 (L3) and 5 (L5); over the 1st sacral vertebra (S1); and over the 1st coccygeal vertebra (CD1). Five trials, led from a halter, with three complete gait cycles were evaluated for each marcha batida horse. The 3D coordinates of the markers were filtered with a second-order, low-pass, Butterworth filter (10 Hz). Six angles: T8-T12-T15, T12-T15-T18, T12-T18-L5, T15-T18-L3, T18-L3-L5, and L3-S1-CD1 were obtained and projected in the sagittal (Flexion and Extension) and transverse (Lateral bending) planes. We calculated, for each angle to represent the spine movements, the mean and standard deviation of the range of motion (ROM, difference between the maximum and minimum values in a stride cycle). In order to describe the movement over an average stride cycle we calculated the mean curve of angle variation. The T8-T12-T15 angle presented the largest ROM in the transverse plane, while in the sagittal plane the T8-T12-T15, T12-T15-T18 and T12-T18-L5 angles presented the largest ROMs. The L3-S1-CD1 angle (lumbosacral region) presented the lowest ROM in both planes. A reduced flexion close to a neutral spine was found, predominantly during the diagonal support and in the cranial thoracic region. At the same time, the thoracolumbar region remains in an extension which is highlighted in the lumbosacral region. During the change of the support phase, the cranial thoracic region moved from a flexion to a slight extent, and the thoracolumbar region was flexed which is emphasized in the lumbosacral region. The lateral bending of the spine followed the direction of the diagonal supports. The small amplitude in the latero-lateral and dorsoventral movements of the thoracolumbar spine of MM horses during the marcha batida gait could contribute to the smooth and natural sensations experienced when riding in this gait. The lower mobility of these angles should be considered during the clinical examination of marcha batida-gaited horses.

Arm waving in stylophoran echinoderms: three-dimensional mobility analysis illuminates cornute locomotion.

The locomotion strategies of fossil invertebrates are typically interpreted on the basis of morphological descriptions. However, it has been shown that homologous structures with disparate morphologies in extant invertebrates do not necessarily correlate with differences in their locomotory capability. Here, we present a new methodology for analysing locomotion in fossil invertebrates with a rigid skeleton through an investigation of a cornute stylophoran, an extinct fossil echinoderm with enigmatic morphology that has made its mode of locomotion difficult to reconstruct. We determined the range of motion of a stylophoran arm based on digitized three-dimensional morphology of an early Ordovician form, Phyllocystis crassimarginata. Our analysis showed that efficient arm-forward epifaunal locomotion based on dorsoventral movements, as previously hypothesized for cornute stylophorans, was not possible for this taxon; locomotion driven primarily by lateral movement of the proximal aulacophore was more likely. Three-dimensional digital modelling provides an objective and rigorous methodology for illuminating the movement capabilities and locomotion strategies of fossil invertebrates.

The range of atlanto-occipital joint motion in cetaceans reflects their feeding behavior.

The cetaceans display a wide variety of lifestyles, especially with regard to their feeding behavior. However, the evolutionary process of the feeding behavior in cetaceans is still poorly understood, in part because reconstructing the feeding behavior of extinct taxa remains difficult. In cetaceans, cranium mobility relative to the trunk largely depends on the range of motion permitted by the atlanto-occipital joint, given the lack of flexibility of the cervical series. In this study, we examined 56 extant cetacean skeletal specimens from 30 species in 25 genera and nine families in order to investigate the relationships between anatomical traits and feeding behavior. Our results suggest that the range of dorso-ventral motion allowed by the atlanto-occipital joint (ROM) depends on prey habitat and the feeding technique of cetaceans. Cetaceans feeding on benthic/demersal prey had a relatively large ROM compared with those feeding on pelagic prey. In addition, ROM was largest in raptorial feeders, intermediate in suction feeders, and smallest in ram-filter feeders. Among raptorial feeders, ROM tended to be larger in taxa that facultatively tear off the prey's flesh compared with taxa that swallow their prey whole. Therefore, we conclude that ROM is a powerful tool toreliably reconstruct the feeding behavior of extinct cetacean taxa.

Effect of a 4-week elastic resistance band training regimen on back kinematics in horses trotting in-hand and on the lunge.

Training and rehabilitation techniques aiming at improving core muscle strength may result in increased dynamic stability of the equine vertebral column. A system of elastic resistance bands is suggested to provide proprioceptive feedback during motion to encourage recruitment of core abdominal and hindquarter musculature for improved dynamic stability. To quantify the effects of a specific resistance band system on back kinematics during trot in-hand and lungeing at beginning and end of a 4-week exercise programme. Quantitative analysis of back movement before/after a 4-week exercise programme. Inertial sensor data were collected from seven horses at weeks 1 and 4 of an exercise protocol with elastic resistance bands. Translational (dorsoventral, mediolateral) and rotational (roll, pitch) range of motion of six landmarks from poll to coccygeal region were quantified during trot in-hand (hard surface) and during lungeing (soft surface, both reins) with/without elastic exercise bands. A mixed model (P<0.05) evaluated the effects of exercise bands, time (week) and movement direction (straight, left, right). The bands reduced roll, pitch and mediolateral displacement in the thoracolumbar region (all P≤0.04). At week 4, independent of band usage, rotational movement (withers, thoracic) was reduced while dorsoventral movement (thoracic, coccygeal) increased. Increased back movement was measured in 80% of back movement parameters during lungeing. Comparing each horse without and with bands without a control group does not distinguish whether the differences measured between weeks 1 and 4 are related to use of the bands, or only to the exercise regimen. Results suggest that the elastic resistance bands reduce mediolateral and rotational movement of the thoracolumbar region (increase dynamic stability) in trot. Further studies should investigate the underlying mechanism with reference to core abdominal and hindquarter muscle recruitment and study the long-term effects. The Summary is available in Chinese - see Supporting Information.

Thoracolumbar movement in sound horses trotting in straight lines in hand and on the lunge and the relationship with hind limb symmetry or asymmetry

Equine movement symmetry is changed when turning, which may induce alterations in thoracolumbosacral kinematics; however, this has not previously been investigated. Our objectives were to document thoracolumbar movement in subjectively sound horses comparing straight lines with circles on both reins and to relate these observations to the objectively determined symmetry/asymmetry of hindlimb gait. Fourteen non-lame horses were assessed prospectively in a non-random, cross-sectional survey. The horses were trotted in straight lines and lunged on both reins and inertial sensor data collected at landmarks: withers, T13 and T18, L3, tubera sacrale, and left and right tubera coxae. Data were processed using published methods; angular motion range of motion (ROM; flexion-extension, axial rotation, lateral bending) and translational ROM (dorsoventral and lateral) and symmetry within each stride were assessed.The dorsoventral movement of the back exhibited a sinusoidal pattern with two oscillations per stride. Circles induced greater asymmetry in dorsoventral movement within each stride (mean ± standard deviation, up to 9 ± 6%) compared with straight lines (up to 6 ± 6%). The greatest amplitude of dorsoventral movement (119 ± 14 mm in straight lines vs. 126 ± 20 mm in circles) occurred at T13. Circles induced greater flexion-extension ROM (>1.3°; P = 0.002), lateral bending (>16°; P < 0.001), and lateral motion (>16 mm; P = 0.002) compared with straight lines. Circles induced a movement pattern similar to an inside hindlimb lameness, which was significantly associated with the circle-induced greater asymmetry of dorsoventral movement of the thoracolumbar region (P = 0.03). Moving in a circle induces measurable changes in thoracolumbar movement compared with moving in straight lines, associated with alterations in the hindlimb gait.

Motor and mechanical bases of the courtship call of the male treehopper Umbonia crassicornis.

This study is a physiological, anatomical and biophysical analysis of how plant-borne vibrational signals are produced by the treehopper Umbonia crassicornis During courtship, males and females engage in a vibrational duet, with each producing a characteristic call. For males, this consists of a frequency-modulated tonal signal which is accompanied by rhythmic broad-band clicks. Although previous studies have described these complex signals in detail, little is known about how they are produced. By combining video recordings, electromyograms, dissections and mechanical modeling, we describe the mechanism by which the male produces his courtship signal. High-speed videos show that the tonal portion of the call is produced by periodic dorso-ventral movements of the abdomen, with a relatively large amplitude oscillation alternating with a smaller oscillation. Electromyograms from the muscles we identified that produce this motion reveal that they fire at half the frequency of the abdominal oscillation, throughout the frequency modulation of the tonal signal. Adding weight to the abdomen of a calling male reduces the frequency of motion, demonstrating that the abdominal motion is strongly influenced by its mechanical resonance. A mathematical model accounting for this resonance provides excellent qualitative agreement with measurements of both the muscle firing rate recorded electrophysiologically and the oscillatory motion of the abdomen as recorded in the high-speed video. The model, electromyograms and analysis of video recordings further suggest that the frequency modulation of the abdominal response is due to a simultaneous modulation in the muscle firing rate and a fluctuation in stiffness of the abdominal attachment.

Specialist bees collect Asteraceae pollen by distinctive abdominal drumming (Osmia) or tapping (Melissodes, Svastra)

Four species of western US Osmia (3 Cephalosmia) that are Asteraceae specialists (mesoleges) were observed using a stereotypical means of collecting pollen—abdominal drumming—to gather pollen from 21 flowering species representing nine tribes of Asteraceae. Abdominal drumming is a rapid dorso-ventral motion of the female’s abdomen (467 pats/min) used to directly collect and place pollen in the bee’s ventral scopa. A co-occurring generalist, O. lignaria, never drummed Asteraceae flowers for pollen, but instead used its legs to harvest pollen. Observed drumming by several other osmiines is noted. A different pollen-harvesting behavior, abdominal tapping, is described for two eucerine bees (Melissodes agilis and Svastra obliqua), both oligolectic for the Asteraceae. The behavior also involves a dorso-ventral motion, but they tap their distal abdominal venter against disk flowers at a slower tempo (304 taps/min). These females’ distal sternites have distinctly dense and long hair brushes for acquiring pollen by this behavior. Brief accounts of similar abdominal pollen gathering behaviors by other megachilids are summarized.

Moa diet fits the bill: virtual reconstruction incorporating mummified remains and prediction of biomechanical performance in avian giants.

The moa (Dinornithiformes) are large to gigantic extinct terrestrial birds of New Zealand. Knowledge about niche partitioning, feeding mode and preference among moa species is limited, hampering palaeoecological reconstruction and evaluation of the impacts of their extinction on remnant native biota, or the viability of exotic species as proposed ecological 'surrogates'. Here we apply three-dimensional finite-element analysis to compare the biomechanical performance of skulls from five of the six moa genera, and two extant ratites, to predict the range of moa feeding behaviours relative to each other and to living relatives. Mechanical performance during biting was compared using simulations of the birds clipping twigs based on muscle reconstruction of mummified moa remains. Other simulated food acquisition strategies included lateral shaking, pullback and dorsoventral movement of the skull. We found evidence for limited overlap in biomechanical performance between the extant emu (Dromaius novaehollandiae) and extinct upland moa (Megalapteryx didinus) based on similarities in mandibular stress distribution in two loading cases, but overall our findings suggest that moa species exploited their habitats in different ways, relative to both each other and extant ratites. The broad range of feeding strategies used by moa, as inferred from interspecific differences in biomechanical performance of the skull, provides insight into mechanisms that facilitated high diversities of these avian herbivores in prehistoric New Zealand.

Preliminary comparative study of two accelerometers performances for evaluation of dorsoventral movement in trotting horse

Quantification of motion by accelerometry in horses is a recent analysis technique, minimally invasive, and with many possibilities of use, whether in monitoring preparing these athletes, in the su...

Agreement between two inertial sensor gait analysis systems for lameness examinations in horses

SummaryGait analysis is gaining popularity for quantification of lameness and 2 commonly used inertial sensor systems assess trunk movement symmetry: can these be used interchangeably in multi‐centre studies? We compared head and pelvic movement symmetry between 2 inertial sensor gait analysis systems in 13 horses equipped simultaneously with the 2 systems. The first system quantified dorsoventral movement in the local reference frame (System A) and the second system global vertical movement (System B). Widths of limits of agreement were calculated employing a well established regression method dealing with systematically changing differences over the range of measured values. Widths of limits of agreement between Systems A and B were narrower for pelvic movement than head movement. For head movement, they ranged from 6.4 to 6.9 mm for in‐hand trot and from 7.3 to 9.7 mm on the lunge and for pelvic movement from 2.5 to 4.4 mm in‐hand and from 3.6 to 5.3 mm on the lunge. Widths of limits of agreement between the 2 investigated inertial sensor gait analysis systems are of comparable magnitude (some equivalent, some marginally higher) to the currently proposed thresholds of 6 mm for head and 3 mm for pelvic movement used in lameness investigations. Differences in measurements with 2 different systems (A and B) obtained from the same horse falling within the reported values should not be seen as a sign of a change in lameness.

Intense leg tapping behavior by the harvestmanMischonyx cuspidatus(Gonyleptidae): an undescribed defensive behavior in Opiliones?

Abstract We describe for the first time the behavior “Intense Leg Tapping (ILT)” being used in a prey-predator context between the Neotropical harvestman Mischonyx cuspidatus (Roewer 1913) and the syntopic spider Ctenus ornatus (Keyserling 1877). Previously, the harvestman's repeated fast dorsoventral movements of legs II had only been described during conspecific male-male interactions. We suggest it has a defensive function.

The peculiarities of the masticator muscles in rodents

Comparative research concerning masticatory musculature in squirrel, muskrat and rabbit, take into account the emphasizing and morphofunctional interpretation of the osteomuscular particularities involved in the prehension and mastication processes. The development of the coronoid process on the muskrat and squirrel demonstrates the growing of the force when raising the mandible by increasing the action force attached to the temporal muscle, with insertion on the coronoid process. In comparison with that, in the case of rabbits, both the coronoid process and the temporal muscle are reduced. From a philogenetic point of view, it has been found that the species that have the articular condyle lowered at or under the level of the dental tables (carnivores) present a greater pressure force between the dental tables. Analyzing this aspect of the rodents taken into discussion, we noticed the lowering of the articular condyle up to the inferior molars' plane, in the case of squirrels and muskrats, but through obliquity, namely through cranial caudal and dorsoventral movement. This peculiarity is emphasized through the analysis of the angle formed by the axis of the mandible recurved branch (passing through the mandibular condyle) with the axis of the horizontal branch of the mandible, where it was noticed that along with the increase in the angle formed by the two axes, which becomes an obtuse 160 degree angle on the squirrel and 130 degrees on the muskrat, there is also a lowering of the articular condyle up to the molar level, while in the case of carnivores, the lowering of the condyle is done without the modification of the angle between the two axes, which measures approximately 90 degrees.

Evolution of Muscle Activity Patterns Driving Motions of the Jaw and Hyoid during Chewing in Gnathostomes

Although chewing has been suggested to be a basal gnathostome trait retained in most major vertebrate lineages, it has not been studied broadly and comparatively across vertebrates. To redress this imbalance, we recorded EMG from muscles powering anteroposterior movement of the hyoid, and dorsoventral movement of the mandibular jaw during chewing. We compared muscle activity patterns (MAP) during chewing in jawed vertebrate taxa belonging to unrelated groups of basal bony fishes and artiodactyl mammals. Our aim was to outline the evolution of coordination in MAP. Comparisons of activity in muscles of the jaw and hyoid that power chewing in closely related artiodactyls using cross-correlation analyses identified reorganizations of jaw and hyoid MAP between herbivores and omnivores. EMG data from basal bony fishes revealed a tighter coordination of jaw and hyoid MAP during chewing than seen in artiodactyls. Across this broad phylogenetic range, there have been major structural reorganizations, including a reduction of the bony hyoid suspension, which is robust in fishes, to the acquisition in a mammalian ancestor of a muscle sling suspending the hyoid. These changes appear to be reflected in a shift in chewing MAP that occurred in an unidentified anamniote stem-lineage. This shift matches observations that, when compared with fishes, the pattern of hyoid motion in tetrapods is reversed and also time-shifted relative to the pattern of jaw movement.

Load carrying during locomotion in the barnacle goose ( Branta leucopsis): The effect of load placement and size

Load carrying has been used to study the energetics and mechanics of locomotion in a range of taxa. Here we investigated the energetic and kinematic effects of trunk and limb loading in walking barnacle geese ( Branta leucopsis). A directly proportional relationship between increasing back-load mass and metabolic rate was established, indicating that the barnacle goose can carry back loads (up to 20% of body mass) more economically than the majority of mammals. The increased cost of supporting and propelling the body during locomotion is likely to account for a major proportion of the extra metabolic cost. Sternal loads up to 15% of body mass were approximately twice as expensive to carry as back loads. Given the key role in dorso-ventral movement of the sternum during respiration we suggest that moving this extra mass may account for the elevated metabolic rate. Loading the distal limb with 5% extra mass incurred the greatest proportional rise in metabolism, and also caused increases in stride length, swing duration and stride frequency during locomotion. The increased work required to move the loaded limb may explain the high cost of walking.

Dynamic Analysis and Control Synthesis of a Link-Based Dolphin-Like Robot Capable of Three-Dimensional Movements

This paper presents a three-dimensional (3-D) dynamic model for a self-propelled, multilink dolphin-like robot to predict the dynamic behaviors of the bio-inspired artificial dolphin system within the framework of multibody dynamics. The propulsive structure mimicking dorsoventral motion includes a multilink tail and a flexibly oscillating fluke moving in coordination, as well as a pair of mechanical flippers performing flapping movements. This configuration can practically be simplified as an open-chain, tree-like multibody with a mobile base. The Schiehlen method is then employed to formulate the equations of motion based on the well-integrated kinematic and dynamic analyses of propulsive elements. Several locomotor behaviors, via coordinated control of the propulsors, can be principally replicated and numerically evaluated. Comparative results between simulations and experiments on forward swimming and combined motions are shown to demonstrate the effectiveness of the created model and locomotion control methods for dolphin-like swimming.