The functional origin of dinosaur bipedalism: Cumulative evidence from bipedally inclined reptiles and disinclined mammals

Macroevolutionary patterns in the pelvis, stylopodium and zeugopodium of megalosauroid theropod dinosaurs and their importance for locomotor function

During the Mesozoic, non-avian theropods represented one of the most successful clades globally distributed, with a wide diversity of forms. An example is the clade Megalosauroidea, which included medium- to large-bodied forms. Here, we analyse the macroevolution of the locomotor system in early Theropoda, emphasizing the Megalosauroidea. We scored the Spinosaurus neotype in a published taxon-character matrix and described the associated modifications in character states, mapping them onto a phylogeny and using these to study disparity. In the evolution of Megalosauroidea, there was the mosaic emergence of a low swollen ridge; enlargement of the posterior brevis fossa and emergence of a posterodorsal process on the ilium in some megalosauroids; emergence of a femoral head oriented anteromedially and medially angled, and appearance of posterolaterally oriented medial femoral condyles in spinosaurids. The greatest morphological disparity is in the ilium of megalosaurids; the ischium seems to have a high degree of homoplasy; there is a clear distinction in the femoral morphospace regarding megalosauroids and other theropods; piatnitzkysaurids show considerable disparity of zeugopodial characters. These reconstructions of osteological evolution form a stronger basis on which other studies could build, such as mapping of pelvic/appendicular musculature and/or correlating skeletal traits with changes in locomotor function.

Evolutionary insights from an anatomical network analysis of the hyolaryngeal apparatus in extant archosaurs (birds and crocodilians)

Adaptive radiation of archosaurs, represented by crocodilians, non-avian dinosaurs, and birds, since the Mesozoic has been studied mainly based on their major skeletal elements (skull, vertebrae, and limbs). However, little is known about the evolution of their hyolaryngeal apparatus, which is involved with feeding, respiration, and vocalization, because of poor fossil preservation and the difficulty in determining the musculoskeletal homology of the apparatus. Network analysis is a framework to quantitatively characterize the topological organization of anatomical structures for comparing structural integration and modularity regardless of ambiguous homology. Herein, we modeled the musculoskeletal system of hyolarynx in six species of extant archosaurs and its sister-taxon turtle, and conducted a network analysis using network parameters, modular partition, and bone centrality in a phylogenetic framework. The network parameters reveal that ancestral archosaurs have reduced the numbers of elements and links and acquired complex networks as a whole domain with strong modularity in the hyolarynx. Furthermore, the modular partition and centrality reveal that the hyoids are highly evolvable, while the larynx is constrained and less evolvable. The archosaur hyolarynx exhibits different evolutionary trends: crocodilians with the system integration, basihyal simplification, and ceratobranchial centralization; and birds with the simplicity, weak integration, and modularity of the hyolarynx, laryngeal integration with cricoid centrality, and tongue-module expansion with the acquisition of paraglossal. Four hyolaryngeal bones (ceratobranchial, basihyal, paraglossal, and cricoid) have played important roles in archosaur evolution, and their fossil records are keys to understanding the two major archosaur lineages toward crocodilians and birds.

Metatarsal fusion resisted bending as jerboas (Dipodidae) transitioned from quadrupedal to bipedal

Hind limbs undergo dramatic changes in loading conditions during the transition from quadrupedal to bipedal locomotion. For example, the most early diverging bipedal jerboas (Rodentia: Dipodidae) are some of the smallest mammals in the world, with body masses that range between 2–4 g. The larger jerboa species exhibit developmental and evolutionary fusion of the central three metatarsals into a single cannon bone. We hypothesize that small body size and metatarsal fusion are mechanisms to maintain the safety factor of the hind limb bones despite the higher ground reaction forces associated with bipedal locomotion. Using finite-element analysis to model collisions between the substrate and the metatarsals, we found that body size reduction was insufficient to reduce bone stress on unfused metatarsals, based on the scaled dynamics of larger jerboas, and that fused bones developed lower stresses than unfused bones when all metatarsals are scaled to the same size and loading conditions. Based on these results, we conclude that fusion reinforces larger jerboa metatarsals against high ground reaction forces. Because smaller jerboas with unfused metatarsals develop higher peak stresses in response to loading conditions scaled from larger jerboas, we hypothesize that smaller jerboas use alternative dynamics of bipedal locomotion to reduce the impact of collisions between the foot and substrate.

Covariation of proximal finger and toe phalanges in Homo sapiens: A novel approach to assess covariation of serially corresponding structures

OBJECTIVES

As hands and feet are serially repeated corresponding structures in tetrapods, the morphology of fingers and toes is expected to covary due to a shared developmental origin. The present study focuses on the covariation of the shape of proximal finger and toe phalanges of adult Homo sapiens to determine whether covariation is different in the first ray relative to the others, as its morphology is also different.

MATERIAL AND METHODS

Proximal phalanges of 76 individuals of unknown sex (Muséum national d'Histoire naturelle, Paris, and the Natural History Museum, London) were digitized using a surface scanner. Landmarks were positioned on 3D surface models of the phalanges. Generalized Procrustes analysis and two-block partial least squares (PLS) analyses were conducted. A novel landmark-based geometric morphometric approach focusing on covariation is based on a PCoA of the angles between PLS axes in morphospace. The results can be statistically evaluated.

RESULTS

The difference in PCo scores between the first and the other rays indicates that the integration between the thumb and the big toe is different from that between the lateral rays of the hand and foot.

DISCUSSION

We speculate that the results are possibly the evolutionary consequence of differential selection pressure on the big toe relative to the other toes related to the rise of bipedalism, which is proposed to have emerged very early in the hominin clade. In contrast, thumb morphology and its precision grip never ceased undergoing changes, suggesting less acute selection pressures related to the evolution of the precision grip.

Femoral specializations to locomotor habits in early archosauriforms

The evolutionary history of archosaurs and their closest relatives is characterized by a wide diversity of locomotor modes, which has even been suggested as a pivotal aspect underlying the evolutionary success of dinosaurs vs. pseudosuchians across the Triassic–Jurassic transition. This locomotor diversity (e.g., more sprawling/erect; crouched/upright; quadrupedal/bipedal) led to several morphofunctional specializations of archosauriform limb bones that have been studied qualitatively as well as quantitatively through various linear morphometric studies. However, differences in locomotor habits have never been studied across the Triassic–Jurassic transition using 3D geometric morphometrics, which can relate how morphological features vary according to biological factors such as locomotor habit and body mass. Herein, we investigate morphological variation across a dataset of 72 femora from 36 different species of archosauriforms. First, we identify femoral head rotation, distal slope of the fourth trochanter, femoral curvature, and the angle between the lateral condyle and crista tibiofibularis as the main features varying between bipedal and quadrupedal taxa, all of these traits having a stronger locomotor signal than the lesser trochanter's proximal extent. We show a significant association between locomotor mode and phylogeny, but with the locomotor signal being stronger than the phylogenetic signal. This enables us to predict locomotor modes of some of the more ambiguous early archosauriforms without relying on the relationships between hindlimb and forelimb linear bone dimensions as in prior studies. Second, we highlight that the most important morphological variation is linked to the increase of body size, which impacts the width of the epiphyses and the roundness and proximodistal position of the fourth trochanter. Furthermore, we show that bipedal and quadrupedal archosauriforms have different allometric trajectories along the morphological variation in relation to body size. Finally, we demonstrate a covariation between locomotor mode and body size, with variations in femoral bowing (anteroposterior curvature) being more distinct among robust femora than gracile ones. We also identify a decoupling in fourth trochanter variation between locomotor mode (symmetrical to semi‐pendant) and body size (sharp to rounded). Our results indicate a similar level of morphological disparity linked to a clear convergence in femoral robusticity between the two clades of archosauriforms (Pseudosuchia and Avemetatarsalia), emphasizing the importance of accounting for body size when studying their evolutionary history, as well as when studying the functional morphology of appendicular features. Determining how early archosauriform skeletal features were impacted by locomotor habits and body size also enables us to discuss the potential homoplasy of some phylogenetic characters used previously in cladistic analyses as well as when bipedalism evolved in the avemetatarsalian lineage. This study illuminates how the evolution of femoral morphology in early archosauriforms was functionally constrained by locomotor habit and body size, which should aid ongoing discussions about the early evolution of dinosaurs and the nature of their evolutionary “success” over pseudosuchians.

An introduction to an evolutionary tail: EvoDevo, structure and function of post-anal appendages

Although tails are common and versatile appendages that contribute to evolutionary success of animals in a broad range of ways, a scientific synthesis on the topic had yet to be initiated. For our Society for Integrative and Comparative Biology (SICB) symposium we brought together researchers from different areas of expertise (e.g., robotosists, biomechanists, functional morphologists, and evolutionary and developmental biologists), to highlight their research but also to emphasize the interdisciplinary nature of this topic. The four main themes that emerged based on the research presented in this symposium are: 1) How do we define a tail? 2) Development and regeneration inform evolutionary origins of tails, 3) Identifying key characteristics highlights functional morphology of tails, 4) Tail multi-functionality leads to the development of bioinspired technology. We discuss the research provided within this symposium, in light of these four themes. We showcase the broad diversity of current tail research and lay an important foundational framework for future interdisciplinary research on tails with this timely symposium.

Maniraptoran pelvic musculature highlights evolutionary patterns in theropod locomotion on the line to birds

Locomotion is a fundamental aspect of palaeobiology and often investigated by comparing osteological structures and proportions. Previous studies document a stepwise accumulation of avian-like features in theropod dinosaurs that accelerates in the clade Maniraptora. However, the soft tissues that influenced the skeleton offer another perspective on locomotory adaptations. Examination of the pelvis for osteological correlates of hind limb and tail musculature allowed reconstruction of primary locomotory muscles across theropods and their closest extant relatives. Additionally, the areas of pelvic muscle origins were quantified to measure relative differences within and between taxa, to compare morphological features associated with cursoriality, and offer insight into the evolution of locomotor modules. Locomotory inferences based on myology often corroborate those based on osteology, although they occasionally conflict and indicate greater complexity than previously appreciated. Maniraptoran pelvic musculature underscores previous studies noting the multifaceted nature of cursoriality and suggests that a more punctuated step in caudal decoupling occurred at or near the base of Maniraptora.

Sagittal balance of the spine

Spinal balance can be defined as the trade-off between outside forces acting on the spine and the muscle response of the trunk, under sensorineural regulation, to maintain stable upright posture, both static and dynamic. Homo sapiens developed sagittal alignment along with bipedalism. The upright posture was an important step in human evolution, to master the environment, at the price of some instability in postural control in the trunk, and to maintain horizontal gaze. To make upright stance energetically economical and thus sustainable, reciprocal sagittal curvatures developed. Sagittal spinal organization is governed by strict rules under physiological conditions, enabling alignment between the center of mass and the lower limb joint centers. In children and adolescents, morphologic changes related to skeletal growth and postural control centers maturation alter spinal alignment and hence spinal balance, with increases in pelvic incidence, sacral slope and consequently lumbar lordosis and thoracic kyphosis. Global cervical lordosis remains stable, at the cost of an increase of the inferior cervical lordosis angle in correlation with T1 inclination or T1 slope. In pathology, spinal alignment may induce certain spinal pathologies such as growth-related spinal dystrophy or spondylolisthesis. It can also be altered by spinal deformity such as scoliosis, a regional disorder inducing adjacent compensatory mechanisms. The management of spinal pathologies is indissociable from understanding and maintaining or restoring individual sagittal alignment so as to ensure physiological distribution of stresses and limit onset of complications or decompensation in adulthood.

The locomotor musculature and posture of the early dinosauriform Silesaurus opolensis provides a new look into the evolution of Dinosauromorpha

It is widely accepted that ornithodirans (bird lineage) and some pseudosuchians (crocodilian lineage) achieved fully erect limb posture in different ways. Ornithodirans have buttress-erected hindlimbs, while some advanced pseudosuchians have pillar-erected hindlimbs. Analysis of the musculoskeletal apparatus of the early dinosauriform Silesaurus opolensis challenges this view. This ornithodiran had pillar-erected hindlimbs like some pseudosuchians. This condition could be autapomorphic or represents a transitional state between adductor-controlled limb posture of early dinosauromorphs and the buttress-erected hindlimbs of dinosaurs. This sequence of changes is supported by Triassic tracks left by animals of the dinosaurian lineage. It was associated with the strong development of knee flexors and extensors. Furthermore, the forelimbs of Silesaurus were fully erect, analogously to those of early sauropods. Members of both lineages reduced the muscles related to the protraction, retraction and bending of the limb. They used forelimbs more as a body support and less for propulsion. A similar scapula and humerus construction can be found in the Lagerpetidae and Lewisuchus, suggesting that long, slender, fully erected forelimbs are primitive for all Dinosauromorpha, not just Silesauridae. Early dinosaurs redeveloped several muscle attachments on the forelimb, probably in relation to bipedality.

The pelvis as an anatomical indicator for facultative bipedality and substrate use in lepidosaurs

Facultative bipedality is regarded as an enigmatic middle ground in the evolution of obligate bipedality and is associated with high mechanical demands in extant lepidosaurs. Traits linked with this phenomenon are largely associated with the caudal end of the animal: hindlimbs and tail. The articulation of the pelvis with both of these structures suggests a morphofunctional role in the use of a facultative locomotor mode. Using a three-dimensional geometric morphometric approach, we examine the pelvic osteology and associated functional implications for 34 species of extant lepidosaur. Anatomical trends associated with the use of a bipedal locomotor mode and substrate preferences are correlated and functionally interpreted based on musculoskeletal descriptions. Changes in pelvic osteology associated with a facultatively bipedal locomotor mode are similar to those observed in species preferring arboreal substrates, indicating shared functionality between these ecologies.

A novel accessory respiratory muscle in the American alligator ( Alligator mississippiensis)

The muscles that effect lung ventilation are key to understanding the evolutionary constraints on animal form and function. Here, through electromyography, we demonstrate a newly discovered respiratory function for the iliocostalis muscle in the American alligator ( Alligator mississippiensis). The iliocostalis is active during expiration when breathing on land at 28°C and this activity is mediated through the uncinate processes on the vertebral ribs. There was also an increase in muscle activity during the forced expirations of alarm distress vocalizations. Interestingly, we did not find any respiratory activity in the iliocostalis when the alligators were breathing with their body submerged in water at 18°C, which resulted in a reduced breathing frequency. The iliocostalis is an accessory breathing muscle that alligators are able to recruit in to assist expiration under certain conditions.

Testing for a facultative locomotor mode in the acquisition of archosaur bipedality

Bipedal locomotion is a defining characteristic of humans and birds and has a profound effect on how these groups interact with their environment. Results from extensive hominin research indicate that there exists an intermediate stage in hominin evolution-facultative bipedality-between obligate quadrupedality and obligate bipedality that uses both forms of locomotion. It is assumed that archosaur locomotor evolution followed this sequence of functional and hence character-state evolution. However, this assumption has never been tested in a broad phylogenetic context. We test whether facultative bipedality is a transitionary state of locomotor mode evolution in the most recent early archosaur phylogenies using maximum-likelihood ancestral state reconstructions for the first time. Across a total of seven independent transitions from quadrupedality to a state of obligate bipedality, we find that facultative bipedality exists as an intermediary mode only once, despite being acquired a total of 14 times. We also report more independent acquisitions of obligate bipedality in archosaurs than previously hypothesized, suggesting that locomotor mode is more evolutionarily fluid than expected and more readily experimented with in these reptiles.

Alligator mississippiensis sternal and shoulder girdle mobility increase stride length during high walks

Crocodilians have played a significant role in evolutionary studies of archosaurs. Given that several major shifts in forelimb function occur within Archosauria, forelimb morphologies of living crocodilians are of particular importance in assessing locomotor evolutionary scenarios. A previous X-ray investigation of walking alligators revealed substantial movement of the shoulder girdle, but as the sternal cartilages do not show up in X-ray, the source of the mobility could not be conclusively determined. Scapulocoracoid movement was interpreted to indicate independent sliding of each coracoid at the sternocoracoid joint; however, rotations of the sternum could also produce similar displacement of the scapulocoracoids. Here, we present new data employing marker-based XROMM (X-ray reconstruction of moving morphology), wherein simultaneous biplanar X-ray video and surgically implanted radio-opaque markers permit precise measurement of the vertebral axis, sternum and coracoid in walking alligators. We found that movements of the sternum and sternocoracoid joint both contribute to shoulder girdle mobility and stride length, and that the sternocoracoid contribution was less than previously estimated. On average, the joint contributions to stride length (measured with reference to a point on the distal radius, thus excluding wrist motion) are as follows: thoracic vertebral rotation 6.2±3.7%, sternal rotation 11.1±2.5%, sternocoracoid joint 10.1±5.2%, glenohumeral joint 40.1±7.8% and elbow 31.1±4.2%. To our knowledge, this is the first evidence of sternal movement relative to the vertebral column (presumably via rib joints) contributing to stride length in tetrapods.

Body and tail-assisted pitch control facilitates bipedal locomotion in Australian agamid lizards

Certain lizards are known to run bipedally. Modelling studies suggest bipedalism in lizards may be a consequence of a caudal shift in the body centre of mass, combined with quick bursts of acceleration, causing a torque moment at the hip lifting the front of the body. However, some lizards appear to run bipedally sooner and for longer than expected from these models, suggesting positive selection for bipedal locomotion. While differences in morphology may contribute to bipedal locomotion, changes in kinematic variables may also contribute to extended bipedal sequences, such as changes to the body orientation, tail lifting and changes to the ground reaction force profile. We examined these mechanisms among eight Australian agamid lizards. Our analysis revealed that angular acceleration of the trunk about the hip, and of the tail about the hip were both important predictors of extended bipedal running, along with increased temporal asymmetry of the ground reaction force profile. These results highlight important dynamic movements during locomotion, which may not only stabilize bipedal strides, but also to de-stabilize quadrupedal strides in agamid lizards, in order to temporarily switch to, and extend a bipedal sequence.