Locomotion Style Research Articles

Interactive Locomotion Style Control for a Human Character based on Gait Cycle Features

AbstractThis article introduces a data‐driven locomotion style controller for full‐body human characters using gait cycle features. Based on gait analysis, we define a set of gait features that can represent various locomotion styles as spatio‐temporal patterns within a single gait cycle. We compute the gait features for every single gait cycle in motion capture data and use them to search for the desired motion. Our real‐time style controller provides users with visual feedback for the changing inputs, exploiting the Motion Matching algorithm. We also provide a graphical controller interface that visualizes our style representation to enable intuitive control for users. We show that the proposed method is capable of retrieving appropriate locomotions for various gait cycle features, from simple walking motions to single‐foot motions such as hopping and dragging. To validate the effectiveness of our method, we conducted a user study that compares the usability and performance of our system with those of an existing footstep animation tool. The results show that our method is preferred over the baseline method for intuitive control and fast visual feedback.

Genomic Basis of Adaptive Divergence in Leg Length between Ground- and Tree-Dwelling Species within a Bird Family.

Hind limbs of tetrapods vary greatly in length and the variability can be associated with locomotor adaptation. Although the phenotypic evolution has been well documented, the underlying genetic basis remains poorly understood. We address this issue by integrating comparative genomics and functional prediction with a study system consisting of ground-dwelling, long-legged and tree-dwelling, short-legged species within the avian family Paridae. Genome-wide divergence and phenotypic correlation analyses jointly identified five highly divergent genomic regions that are significantly related with the difference in leg length between these two groups. Gene annotation for these regions detected three genes involved in skeletal development, that is, PTPA, BRINP1, and MIGA2, with the first one being under the strongest selection. Furthermore, four single nucleotide polymorphisms (SNPs) in the coding region of PTPA can well distinguish the two groups with distinct leg length. Among the four SNPs, one is non-synonymous mutation, and according to the prediction for protein structure and function, it can affect the 3D structure of the encoded protein by altering the corresponding amino acid's position. The alleles of PTPA were found in all sequenced species of the orders Palaeognathae and Psittaciformes, which typically take a ground locomotion style. A whole-genome scanning across bird species uncovered that the four SNPs are more likely to be present in resident passerines with increased leg length/wing length ratios (a proxy of leg-dependent locomotion efficiency). Our findings provide insight into the molecular evolution of locomotion performance based on leg morphology in birds.

The Role of Locomotory Ancestry on Secondarily Aquatic Transitions.

Land-to-sea evolutionary transitions are great transformations where terrestrial amniote clades returned to aquatic environments. These secondarily aquatic amniote clades include charismatic marine mammal and marine reptile groups, as well as countless semi-aquatic forms that modified their terrestrial locomotor anatomy to varying degrees to be suited for swimming via axial and/or appendicular propulsion. The terrestrial ancestors of secondarily aquatic groups would have started off swimming strikingly differently from one another given their evolutionary histories, as inferred by the way modern terrestrial amniotes swim. With such stark locomotor functional differences between reptiles and mammals, we ask if this impacted these transitions. Axial propulsion appears favored by aquatic descendants of terrestrially sprawling quadrupedal reptiles, with exceptions. Appendicular propulsion is more prevalent across the aquatic descendants of ancestrally parasagittal-postured mammals, particularly early transitioning forms. Ancestral terrestrial anatomical differences that precede secondarily aquatic invasions between mammals and reptiles, as well as the distribution of axial and appendicular swimming in secondarily aquatic clades, may indicate that ancestral terrestrial locomotor anatomy played a role, potentially in both constraint and facilitation, in certain aquatic locomotion styles. This perspective of the land-to-sea transition can lead to new avenues of functional, biomechanical, and developmental study of secondarily aquatic transitions.

Comparison of the forward and sideways locomotor patterns in children with Cerebral Palsy

Switching locomotion direction is a common task in daily life, and it has been studied extensively in healthy people. Little is known, however, about the locomotor adjustments involved in changing locomotion direction from forward (FW) to sideways (SW) in children with cerebral palsy (CP). The importance of testing the ability of children with CP in this task lies in the assessment of flexible, adaptable adjustments of locomotion as a function of the environmental context. On the one hand, the ability of a child to cope with novel task requirements may provide prognostic cues as to the chances of modifying the gait adaptively. On the other hand, challenging the child with the novel task may represent a useful rehabilitation tool to improve the locomotor performance. SW is an asymmetrical locomotor task and requires a differential control of right and left limb muscles. Here, we report the results of a cross-sectional study comparing FW and SW in 27 children with CP (17 diplegic, 10 hemiplegic, 2–10 years) and 18 age-matched typically developing (TD) children. We analyzed gait kinematics, joint moments, EMG activity of 12 pairs of bilateral muscles, and muscle modules evaluated by factorization of EMG signals. Task performance in several children with CP differed drastically from that of TD children. Only 2/3 of children with CP met the primary outcome, i.e. they succeeded to step sideways, and they often demonstrated attempts to step forward. They tended to rotate their trunk FW, cross one leg over the other, flex the knee and hip. Moreover, in contrast to TD children, children with CP often exhibited similar motor modules for FW and SW. Overall, the results reflect developmental deficits in the control of gait, bilateral coordination and adjustment of basic motor modules in children with CP. We suggest that the sideways (along with the backward) style of locomotion represents a novel rehabilitation protocol that challenges the child to cope with novel contextual requirements.

Coracoid strength as an indicator of wing-beat propulsion in birds.

Birds generate a propulsive force by flapping their wings. They use this propulsive force for various locomotion styles, such as aerodynamic flight, wing-paddle swimming and wing-assisted incline running. It is therefore important to reveal the origin of flapping ability in the evolution from theropod dinosaurs to birds. However, there are no quantitative indices to reconstruct the flapping abilities of extinct forms based on their skeletal morphology. This study compares the section modulus of the coracoid relative to body mass among various extant birds to test whether the index is correlated with flapping ability. According to a survey of 220 historical bird specimens representing 209 species, 180 genera, 83 families and 30 orders, the section modulus of the coracoid relative to body mass in non-flapping birds was significantly smaller than that of flapping birds. This indicates that coracoid strength in non-flapping birds is deemphasised, whereas in flapping birds the strength is emphasisedto withstand the contractile force produced by powerful flapping muscles, such as the m. pectoralis and m. supracoracoideus. Therefore, the section modulus of the coracoid is expected to be a powerful tool to reveal the origin of powered flight in birds.

Reevaluating hydrodynamic performance of Late Triassic–Early Jurassic ammonoid shells with a 1D trajectory model

Biomechanical analyses provide unique insights on state shifts in the ecology of extinct communities. Ammonoids present a compelling case study for coupling biomechanical analysis with ecology given their robust fossil record of external conchs. We present a trajectory model to evaluate hydrodynamical advantages and challenges associated with ammonoid conch form. The model is a one-dimensional calculation estimating the dynamic feedbacks between different components of an ammonite’s motion including thrust, drag, acceleration, and distance traveled. Computational fluid dynamics simulations were performed on eleven different ammonoid conch morphotypes and integrated into a mathematical model to analyze the dynamics of swimming across a combination of conch diameters (5, 10, and 20 cm) and jet rhythms (a single jet or series of three pulses). We compared the efficacy of short-term bursts of motion to that of long-term cruising and found: inflated shapes (i.e., spherocones) offer the fastest short-term motion, but at the greatest costs; heavily streamlined shapes (i.e., platycones) offer long cruise distances, but with ineffective short-term motion; and visibly-coiled shapes (i.e., serpenticones) appear to offer intermediate performance in both locomotion styles. Size is critical in ranking the performance of different conch shapes in both locomotion styles because ranking is determined predominantly by the amount of thrust an animal is capable of generating. With increasing size, Reynolds number increases and the effects of second-order morphological characters become more pronounced and alter the performance ranking of conchs. Finally, we present a visual analysis of the flow regimes and shape details that may drive these hydrodynamic consequences. We speculate that serpenticone morphologies capitalized on these subtleties with a morphology that provided reasonably high-speed swimming at small sizes relevant to juveniles while maintaining relatively efficient coasting locomotion at the larger sizes relevant to adult animals. We highlight the ubiquitous serpenticones of the Early Jurassic as a case study for applying biomechanical data to a paleoecological context. The broad range of morphotypes expressed by ammonoids in the Late Triassic is dramatically pared down during the End Triassic extinction. In the few million years following the extinction, ammonoids diversify into a suite of shapes with a more restricted range of locomotor performance, and only much later is the full range of morphology recovered.

Stabilized Morphological Evolution of Spiders Despite Mosaic Changes in Foraging Ecology.

A prominent question in animal research is how the evolution of morphology and ecology interacts in the generation of phenotypic diversity. Spiders are some of the most abundant arthropod predators in terrestrial ecosystems and exhibit a diversity of foraging styles. It remains unclear how spider body size and proportions relate to foraging style, and if the use of webs as prey capture devices correlates with changes in body characteristics. Here, we present the most extensive data set to date of morphometric and ecological traits in spiders. We used this data set to estimate the change in spider body sizes and shapes over deep time and to test if and how spider phenotypes are correlated with their behavioral ecology. We found that phylogenetic variation of most traits best fitted an Ornstein-Uhlenbeck model, which is a model of stabilizing selection. A prominent exception was body length, whose evolutionary dynamics were best explained with a Brownian Motion (free trait diffusion) model. This was most expressed in the araneoid clade (ecribellate orb-weaving spiders and allies) that showed bimodal trends toward either miniaturization or gigantism. Only few traits differed significantly between ecological guilds, most prominently leg length and thickness, and although a multivariate framework found general differences in traits among ecological guilds, it was not possible to unequivocally associate a set of morphometric traits with the relative ecological mode. Long, thin legs have often evolved with aerial webs and a hanging (suspended) locomotion style, but this trend is not general. Eye size and fang length did not differ between ecological guilds, rejecting the hypothesis that webs reduce the need for visual cue recognition and prey immobilization. For the inference of the ecology of species with unknown behaviors, we propose not to use morphometric traits, but rather consult (micro-)morphological characters, such as the presence of certain podal structures. These results suggest that, in contrast to insects, the evolution of body proportions in spiders is unusually stabilized and ecological adaptations are dominantly realized by behavioral traits and extended phenotypes in this group of predators. This work demonstrates the power of combining recent advances in phylogenomics with trait-based approaches to better understand global functional diversity patterns through space and time. [Animal architecture; Arachnida; Araneae; extended phenotype; functional traits; macroevolution; stabilizing selection.].

Shape Memory Alloy‐Based Soft Amphibious Robot Capable of Seal‐Inspired Locomotion

AbstractRobots are often required to have multimodal and amphibious capabilities for dynamic environments. Although shape memory alloy (SMA) has been exploited in creating various types of deformation in soft actuators, no SMA‐based multimodal soft amphibious robot has been reported. This study describes a soft amphibious robot made of SMA‐based soft actuators that mimics the terrestrial and subaqueous motion of crawling seals. The soft amphibious robot named SEALicone exhibits two gaits, crawling terrestrial locomotion and oscillatory underwater propulsion. The robot consists of two types of SMA‐based soft actuators: the backbone actuator with wave‐like deformation and the support actuator with fusiform deformation. These actuators in the robot collectively deform allowing the robot to generate distinct locomotion styles that mimic those of the crawling seals. Straight advance and turning motions of the robot in both environments are evaluated, and the transitional motion between the two environments is also demonstrated. This study lays the important groundwork in designing multimodal soft robots that can operate across different environments.

Concurrent evidence from ichnology and anatomy: the scelidotheriine ground sloths (Xenarthra, Folivora) from the Pleistocene of Argentina

ABSTRACT In the fossil record of South America, both ground sloths and their tracks are well known. However, most tracks described were assignable to megatherians and mylodontids, while tracks assignable to scelidotheriines show a very scarce record. In this contribution, we present new records of fossil tracks assignable to scelidotheriines and review and expand the original description of the ichnotaxon Acugnaichnum dorregoensis. In addition, we explored the correlation between track features and limb morphology, finding that the tracks can help to better understand the posture and function of scelidotheriine limbs. Features of the handprint suggest that these ground sloths would not rest hands in the substrate by its palmar aspect, but on the knuckles or its lateral aspect, similar to the extant giant and lesser anteaters. Concerning the foot tracks, their features indicate that digits V and IV rested on the substrate in a different orientation than the digit III, whose large ungual phalanx provided additional support by resting of its lateral side, which is biomechanically coherent with the stability of the foot. In addition, some kind of soft tissue cushion would be present below the main arch of the foot. Evidence for locomotion style and bipedalism is discussed.

Cumulative effects of low‐height barriers on distributions of catadromous Japanese eels in Japan

AbstractFish distributions in river systems are known to be affected by large dams and other artificial cross‐river structures such as weirs that prevent their movements and migrations. However, little is known about the cumulative effect of low‐height barriers on fish distributions. Although fishes like eels and lampreys, which include endangered species, have a unique type of ability to climb or attach to obstacles, the strength of their anguilliform swimming locomotion style is generally lower than in other fishes. To investigate the cumulative effects of small barriers irrespective of their distances from the river mouth on riverine distributions of endangered eels, the individual density of Japanese eels and habitat characteristics of five model river systems having differences in numbers, size and positional patterns of small barriers were surveyed and analysed using a generalized linear mixed model approach. The results clearly showed that a continuum of small barriers and the distance from the river mouth affected the riverine distributions of Japanese eels, and that these effects were eel size‐ or stage‐dependent. The density of small eels decreased as the cumulative height of barriers downstream of each station increased, while that of large eels decreased as the distance from the river mouth increased. Small individuals dispersed in a wide range of habitats before the end of their upstream migration phase, suggesting that small barriers have an impact on their ideal distributions, life‐history patterns (becoming residents or nomads shifting growth habitats to estuaries) and sex differentiation. This study and existing information indicate that conservation/restoration actions are needed to maintain or improve riverine connectivity for migratory species, especially those having lower swimming ability and a benthic growth phase in freshwater ecosystems that are at risk even when migration barriers are not very high.

Stabbing Spines: A review of the Biomechanics and Evolution of Defensive Spines.

Spines are ubiquitous in both plants and animals, and while most spines were likely originally used for defense, over time many have been modified in a variety of ways. Here we take an integrative approach to review the form, function, and evolution of spines as a defensive strategy in order to make new connections between physical mechanisms and functional behavior. While this review focuses on spines in mammals, we reference and draw ideas from the literature on spines in other taxa, including plants. We begin by exploring the biomechanics of defensive spines, their varied functions, and nondefensive modifications. We pay particular attention to the mechanics involved in passive puncture and the ways organisms have overcome limitations associated with the low energy input. We then focus on the ecological, physiological, and behavioral factors that promote the evolution of spiny defenses, including predator- and habitat-mediated hypotheses. While there is considerable evidence to support both, studies have generally found that (1) defensive spines are usually effective against one class of attacker (e.g., larger predators) but ineffective against or even facilitate predation by others and (2) species that are more visible or exposed to predators are under much stronger selection to evolve defensive spines or some other robust defense. What type of defensive morphology that evolves, however, is less predictable and probably strongly dependent on both the dominant source of predation and the habitat structure of the organism (e.g., arboreal, terrestrial, and fossorial). We then explore traits that often are correlated with defensive spines and armor, potentially forming armor syndromes, suites of traits that evolve together with body armor in a correlated fashion. In mammals, these include aposematic warning coloration, locomotion style, diet, metabolic rate, and relative brain size. Finally, we encourage integration of mechanistic, behavioral, and evolutionary studies of defensive spines and suggest future avenues of research in the biomechanics, evolution, and behavior of spines and spiny organisms.

Evolutionary Change in Locomotion Close to the Origin of Amniotes Inferred From Trackway Data in an Ancestral State Reconstruction Approach

Among amniote and non-amniote tetrapod trackways from late Carboniferous to early Permian deposits, certain trackway measures vary notably. Some of this variability can be attributed to evolutionary changes in trackmaker anatomy and locomotion style close to the origin of amniotes. Here we demonstrate that steps in early amniote locomotion evolution can be addressed by applying methods of ancestral state reconstruction on trackway data – a novel approach in tetrapod ichnology. Based on (a) measurements of 186 trackways referred to the Carboniferous and early Permian ichnogenera Batrachichnus, Limnopus, Hylopus, Amphisauropus, Matthewichnus, Ichniotherium, Dimetropus, Tambachichnium, Erpetopus, Varanopus, Hyloidichnus, Notalacerta and Dromopus, (b) correlation of these ichnotaxa with specific groups of amphibian, reptiliomorph, synapsid, and reptilian trackmakers based on imprint morphology and (c) known skeletal-morphology-based phylogenies of the supposed trackmakers, we infer ancestral states for functionally controlled trackway measures in a maximum likelihood approach. The most notable finding of our analysis is a concordant change in trackway parameters within a series of ancestral amniote trackmakers, which reflects an evolutionary change in locomotion: In the ancestors of amniotes and diadectomorphs, an increase in body size was accompanied by a decrease in (normalized) gauge width and glenoacetabular length and by a change in imprint orientation toward a more trackway-parallel and forward-pointing condition. In the subsequent evolution of diadectomorph, synapsid and reptilian trackmakers after the diversification of the clades Cotylosauria (Amniota + Diadectomorpha) and Amniota, stride length increased whereas gauges decreased further or remained relatively narrow within most lineages. In accordance with this conspicuous pattern of evolutionary change in trackway measures, we interpret the body size increase as an underlying factor that triggered the reorganization of the locomotion apparatus. The secondary increase in stride length, which occurred convergently within distinct groups, is interpreted as an increase in locomotion capability when the benefits of reorganization came into effect. The track-trackmaker pair of Ichniotherium sphaerodactylum and Orobates pabsti from the early Permian Bromacker locality of the Thuringian Forest, proposed in earlier studies as a suitable ancestral amniote track-trackmaker model, fits relatively well with our modeled last common ancestor of amniotes – with the caveat that the Bromacker material is younger and some of the similarities appear to be due to convergence.

Hyloidichnus trackways with digit and tail drag traces from the Permian of Gonfaron (Var, France): New insights on the locomotion of captorhinomorph eureptiles

Newly discovered tetrapod footprints from the middle Permian Pelitic Formation of Gonfaron (Le Luc Basin, Var, France) are described in detail and assigned to the ichnogenus Hyloidichnus. These specimens are very well-preserved, with detailed trackways showing anatomical features, digit drag traces and continuous tail impressions. Together with other Hyloidichnus specimens from the same locality and from the University of Burgundy collections, they allow the identification of the possible trackmakers of Hyloidichnus: small Hyloidichnus footprints are correlated with captorhinomorphs with autopodia similar to Captorhinus whereas large Hyloidichnus footprints might be correlated with larger captorhinomorphs or other ‘basal’ (eventually stem-) moradisaurines. A detailed comparative analysis is proposed to better understand the locomotion style of the trackmakers. Starting from the reconstruction of the stance phase of Captorhinus, we document the swing phase of the fore- and hind-limbs of captorhinomorphs thanks to the continuous digit drag traces associated with Hyloidichnus. A link between gait and track preservation have been highlighted through the analysis of tail impressions and high-resolution 3D models. In all, this study increases our understanding of captorhinomorph locomotion and enhances the integration of both tracks and skeletal remains to highlight the biomechanics of Permian tetrapods.

Functional morphology of the forelimb musculature reflects flight and foraging styles in aquatic birds

Aquatic birds show a great diversity of locomotion styles and wing morphologies, from penguins that are fully specialized for an aquatic life to species of aerial flyers that also use their wings for underwater propulsion (e.g. auks and shearwaters). Moving between the air–water interface exerts conflicting pressures on the body and wing anatomy of diving birds. In this work, we investigated the functional morphology of the forelimb musculature of 18 species of aquatic birds that display a variety of flight and foraging styles. Muscle architecture was related to function, with special emphasis on muscle mass. Dissections of one of the forelimbs of 20 specimens of waterbirds were performed to obtain numerical data of muscle architecture. Total wing muscle mass scaled isometrically to body mass1.0, whereas fascicle length scaled to muscle mass0.284, which is consistent with previous results of scaling in wings of raptors. A principal component analysis (PCA) of normalised muscle masses resulted in a biplot where three main morphological groups can be distinguished. Anatids (ducks and geese) occupy a space represented by muscles that are activated during downstroke. Auks and penguins clustered together in a region dominated by muscles that assist in wing elevation and showed a degree of hypertrophy. The rest of the species grouped together in the lower limits of both PCs where muscles that facilitate wing flexion–extension and stabilisation are loaded. The distribution of mass in the wing muscles of the aquatic birds seemed to be related to flight and foraging style and showed non-significant influence of shared phylogenetic history (Kmult: 0.71, p value: 0.083, 10,000 permutations).

Hunting by the Stroke: How Foraging Drives Diving Behavior and Locomotion of East-Greenland Narwhals (Monodon monoceros)

Deep diving air-breathing species by necessity must balance submergence time and level of exercise during breath-holding: a low activity level preserves oxygen stores and allows longer duration submergence whereas high activity levels consume oxygen quickly and shorten submergence time. In this study, we combined high-resolution multi sensor animal-borne tag data to investigate diving behavior and locomotion styles of the narwhal (Monodon monoceros) (n= 13, mean record length 91 h)–a deep diving Arctic species. Narwhals in this study dove down to >800 m but despite the deep diving abilities, one-third of the dives (33%) were shallow (>100 m) and short in duration (<5 min). Narwhals utilized energy saving measures such as prolonged gliding during descent with increasing target depth but stroked actively throughout the ascent indicating excess oxygen storages. Foraging behavior, as detected by the presence of buzzes, was a key factor influencing dive depth and spinning behavior—the rolling movement of the animal along its longitudinal axes. Narwhals in East Greenland utilized two foraging strategies, while transiting and while stationary, with different target depths and buzzing rates. The first targeted deep-dwelling, possibly solitary prey items and the latter, more schooling prey closer to the surface. The buzzing rate during stationary foraging was on average twice as high as during transiting foraging. Spinning was an integrated part of narwhal swimming behavior but the amount of spinning was correlated with foraging behavior. The odds for spinning during all dive phases were 2–3 times higher during foraging than non-foraging. Due to the spinning behavior, stroking rate might be better suited for estimating energy consumption in narwhals than ODBA (overall dynamic body acceleration). The narwhal is considered as one of the most sensitive species to climate change–the results from this study can act as a baseline essential for evaluating changes in the behavior and energy usage of narwhals caused by stressors evolving in the Arctic.

First xiphosuran traceway in the middle Muschelkalk facies (Middle Triassic) of the Catalan Basin (NE Iberian Peninsula)

In the last decade, the first ichnoassamblages from the middle Muschelkalk facies (upper Anisian–middle Ladinian) of the Catalan Basin (NE Iberian Peninsula) have been discovered. Herein, the first xiphosuran trace fossils are described from the locality of Penya Rubí, a newly discovered ichnosite from the Catalan Basin. The finding opens a window into peri-Tethys ecosystems with coastal influence. The traceway is referred to the ichnogenus Kouphichnium, a locomotion trace attributed to xiphosurans. The traceway preserves telson grooves and different imprint morphologies from the various appendages. The traceway pattern and arrangement of the different traces suggest a crawling locomotion style. The sedimentology suggests a coastal zone with areas influenced by tides (intertidal flat). The morphological variations of the ichnites are correlated to substrate rheology, the locomotion of the tracemaker and environmental conditions.

The Association Between Foot Structure and Foot Kinematics During Slow Running.

Clinicians routinely assess foot posture as part of their assessment and management of foot pathologies. Flat or high-arched foot postures have been linked to kinematic deviations and increased risk of foot injuries. The Foot Posture Index (FPI) is a valid clinical tool used to classify feet into high-arched, normal-arched, and flat foot groups and predicts foot function during walking well. Walking and running are distinct locomotion styles, and studies have not been performed to correlate FPI to foot function during running. This study aims to investigate the association of FPI scores to foot kinematics during running. The results will further inform clinicians who perform static assessment of feet of individuals who are runners. Sixty-nine participants had their feet assessed using the FPI scoring system. Based on these scores, the feet were categorized as flat foot, normal-arched, and high-arched. Rearfoot eversion and forefoot dorsiflexion (arch flattening) of the foot were analysed during slow running between 1.4 and 2.2 m/sec. The Pearson correlation was used to analyse the FPI scores on an interval scale, with Cohen's d used to report effect size. One-way analysis of variance and a Bonferroni post hoc test was used to analyze data by category. Level of significance was set at P < .05. Thirty-four flat feet, 26 normal-arched feet, and nine high-arched feet were analyzed. The FPI scores correlated significantly with rearfoot eversion (moderate effect size) and forefoot dorsiflexion (low effect size). Rearfoot eversion was greatest in the flat foot, followed by the normal-arched foot and the high-arched foot. Forefoot dorsiflexion was significantly higher in the flat foot compared with the high-arched group. Foot Posture Index scores are positively correlated with rearfoot eversion and forefoot dorsiflexion during running. Clinicians can use this information to aid their foot assessment and management of individuals who are runners.

3D Imaging of southernmost Triassic archosaur footprints from Europe (Southern Spain)

The application of 3D photogrammetric models to the analysis of rauisuchian archosaur footprints of the Middle-Upper Triassic of the south Iberian palaeomargin improves the knowledge and interpretation of the behaviour of rauisuchian archosaurs that inhabited this area. Two outcrops rich in footprints were scanned at Santisteban del Puerto and Cambil in Jaen (SE Spain). The footprints of Santisteban del Puerto consist of three subparallel concave impressions including two long lateral traces, and a shorter medial one. The footprints of Cambil are preserved as convex hyporeliefs, counter-moulds, at the bottom of inverted strata and record manus and pes impressions. The 3D photogrammetric models provide new data sets such as depth distribution maps, contour line maps, and topographic profiles of the footprints that implement the interpretation obtained during fieldwork. These are useful tools for the study, preservation, and dissemination of such outcrops. Digitally generated depth distribution maps display darker (blue) colours for the most depressed areas of the traces. The contour line maps and digital elevation models of the footprints improve the understanding of the locomotion of the tracemaker. The footprints of Cambil and Santisteban del Puerto represent the only ichnological record of Triassic terrestrial vertebrates in the southern Iberian Peninsula, and the southernmost record of trace fossils of the Triassic in Europe. These outcrops also provide information about different locomotion styles of Triassic archosauromorphs including swimming/floating of bipeds (Santisteban del Puerto) and walking of quadrupeds (Cambil).

Placing and scheduling many depth sensors for wide coverage and efficient mapping in versatile legged robots

This article tackles the problem of designing 3D perception systems for robots with high visual requirements, such as versatile legged robots capable of different locomotion styles. In order to guarantee high visual coverage in varied conditions (e.g., biped walking, quadruped walking, ladder climbing), such robots need to be equipped with a large number of sensors, while at the same time managing the computational requirements that arise from such a system. We tackle this problem at both levels: sensor placement (how many sensors to install on the robot and where) and run-time acquisition scheduling under computational constraints (not all sensors can be acquired and processed at the same time). Our first contribution is a methodology for designing perception systems with a large number of depth sensors scattered throughout the links of a robot, using multi-objective optimization for optimal trade-offs between visual coverage and the number of sensors. We estimate the Pareto front of these objectives through evolutionary optimization, and implement a solution on a real legged robot. Our formulation includes constraints on task-specific coverage and design symmetry, which lead to reliable coverage and fast convergence of the optimization problem. Our second contribution is an algorithm for lowering the computational burden of mapping with such a high number of sensors, formulated as an information-maximization problem with several sampling techniques for speed. Our final system uses 20 depth sensors scattered throughout the robot, which can either be acquired simultaneously or optimally scheduled for low CPU usage while maximizing mapping quality. We show that, when compared with state-of-the-art robotic platforms, our system has higher coverage across a higher number of tasks, thus being suitable for challenging environments and versatile robots. We also demonstrate that our scheduling algorithm allows higher mapping performance to be obtained than with naïve and state-of-the-art methods by leveraging on measures of information gain and self-occlusion at low computational costs.

TRBR: Flight body posture compensation for transverse ricochetal brachiation robot

Transverse ricochetal brachiation is a sophisticated locomotion style that mimics athletes swinging their bodies with their hands on a ledge in order to propel themselves for a leap to a target ledge. This paper describes the development of a transverse ricochetal brachiation robot (TRBR) and outlines motion control strategies for active flight body posture compensation. The crucial design parameters were obtained by formulating an optimization problem with the goal of maximizing flight distance. Shoulder joints with switchable stiffness were used to enable resonance excitation via the swinging of a robot tail during the swing phase, while enabling tight arm-and-body engagement during the flight phase. Novel electric grippers were designed to provide the required holding forces as well as quick-release functionality to ensure that the kinetic energy accumulated during the swing phase could be transferred smoothly to the flight phase. The reference trajectory of the robot tail was obtained using an optimization procedure based on a dynamic model of the swing phase. We also adopted a dynamic model for the flight phase to elucidate the effects of midair body rotation with the aim of developing body posture compensation methods. Simulation and experimental results demonstrate the efficacy of the proposed body posture compensation method based on a successive loop closure design in improving flight body posture during transverse ricochetal brachiation. The integration of arm swing motion with tail compensation also proved highly effective in enhancing hang time and travel distance.