Locomotion on the water surface: propulsive mechanisms of the fisher spider

Limb Loss and Specialized Leg Dynamics in Tiny Water-Walking Insects

The air-water interface of the planet's water bodies, such as ponds, lakes, and streams, presents an uncertain ecological niche with predatory threats from above and below. As Microvelia americana move across the water surface in small ponds, they face potential injury from attacks by birds, fish, and underwater invertebrates. Thus, our study investigates the effects of losing individual or pairs of tarsi on M. americana's ability to walk on water. Removal of both hind tarsi causes M. americana to rock their bodies (yaw) while running across the water surface at $\pm 19^{\circ }$, compared to $\pm 7^{\circ }$ in nonablated specimens. This increase in yaw, resulting from the removal of hind tarsi, indicates that M. americana use their hind legs as "rudders" to regulate yaw, originating from the contralateral middle legs' strokes on the water's surface through an alternating tripod gait. Ablation of the ipsilateral middle and hind tarsi disrupts directionality, making M. americana turn in the direction of their intact limbs. This loss of directionality does not occur with the removal of contralateral middle and hind tarsi. However, M. americana lose their ability to use the alternating tripod gait to walk on water on the day of contralateral ablation. Remarkably, by the next day, M. americana adapt and regain the ability to walk on water using the alternating tripod gait. Our findings elucidate the specialized leg dynamics within the alternating tripod gait of M. americana, and their adaptability to tarsal loss. This research could guide the development and design strategies of small, adaptive, and resilient micro-robots that can adapt to controller malfunction or actuator damage for walking on water and terrestrial surfaces.

Tiny Amphibious Insects Use Tripod Gait for Traversal on Land, Water, and Duckweed

Insects exhibit remarkable adaptability in their locomotive strategies in diverse environments, a crucial trait for foraging, survival, and predator avoidance. Microvelia americana, tiny 2-3 mm insects that adeptly walk on water surfaces, exemplify this adaptability by using the alternating tripod gait in both aquatic and terrestrial terrains. These insects commonly inhabit low-flow ponds and streams cluttered with natural debris like leaves, twigs, and duckweed. Using high-speed imaging and pose-estimation software, we analyze M. americana movement on water, sandpaper (simulating land), and varying duckweed densities (10%, 25%, and 50% coverage). Our results reveal M. americana maintain consistent joint angles and strides of their upper and hind legs across all duckweed coverages, mirroring those seen on sandpaper. Microvelia americana adjust the stride length of their middle legs based on the amount of duckweed present, decreasing with increased duckweed coverage and at 50% duckweed coverage, their middle legs' strides closely mimic their strides on sandpaper. Notably, M. americana achieve speeds up to 56 body lengths per second on the deformable surface of water, nearly double those observed on sandpaper and duckweed, which are rough, heterogeneous surfaces. This study highlights M. americana's ecological adaptability, setting the stage for advancements in amphibious robotics that emulate their unique tripod gait for navigating complex terrains.

Comparison of water and terrestrial jumping in natural and robotic insects

Jumping requires high actuation power for achieving high speed in a short time. Especially, organisms and robots at the insect scale jump in order to overcome size limits on the speed of locomotion. As small jumpers suffer from intrinsically small power output, efficient jumpers have devised various ingenuous schemes to amplify their power release. Furthermore, semi-aquatic jumpers have adopted specialized techniques to fully exploit the reaction from water. We review jumping mechanisms of natural and robotic insects that jump on the ground and the surface of water, and compare the performance depending on their scale. We find a general trend that jumping creatures maximize jumping speed by unique mechanisms that manage acceleration, force, and takeoff duration under the constraints mainly associated with their size, shape, and substrate.

Limb loss and specialized leg dynamics in tiny water-walking insects

The air-water of the planet's water bodies, such as ponds, lakes and streams, presents an uncertain ecological niche with predatory threats from above and below. As Microvelia move across the water surface in small ponds, they face potential injury from attacks by birds, fish, and underwater invertebrates. Thus, our study investigates the effects of losing individual or pairs of tarsi on the Microvelia's ability to walk on water. Removal of both hind tarsi causes Microvelia spp. to rock their bodies (yaw) while running across the water surface at ±19°, compared to ±7° in non-ablated specimens. This increase in yaw, resulting from the removal of hind tarsi, indicates that Microvelia use their hind legs as 'rudders' to regulate yaw, originating from the contralateral middle legs' strokes on the water's surface through an alternating tripod gait. Ablation of the ipsilateral middle and hind tarsi disrupts directionality, making Microvelia turn in the direction of their intact limbs. This loss of directionality does not occur with the removal of contralateral middle and hind tarsi. However, Microvelia lose their ability to use the alternating tripod gait to walk for water walking on the day of contralateral ablation. Remarkably, by the next day Microvelia adapt and regain the ability to walk on water using the alternating tripod gait. Our findings elucidate the specialized leg dynamics within the alternating tripod gait of Microvelia spp., and their adaptability to tarsal loss. This research could guide the development and design strategies of small, adaptive, and resilient micro-robots that can adapt to controller malfunction or actuator damage for walking on water and terrestrial surfaces.

Tiny amphibious insects use tripod gait for seamless transition across land, water, and duckweed

Insects exhibit remarkable adaptability in their locomotive strategies across diverse environments, a crucial trait for foraging, survival, and predator avoidance. Microvelia, tiny 2-3 mm insects that adeptly walk on water surfaces, exemplify this adaptability by using the alternating tripod gait in both aquatic and terrestrial terrains. These insects commonly inhabit low-flow ponds and streams cluttered with natural debris like leaves, twigs, and duckweed. Using high-speed imaging and pose-estimation software, we analyze Microvelia spp.'s movement across water, sandpaper (simulating land), and varying duckweed densities (10%, 25%, and 50% coverage). Our results reveal Microvelia maintain consistent joint angles and strides of their upper and hind legs across all duckweed coverages, mirroring those seen on sandpaper. Microvelia adjust the stride length of their middle legs based on the amount of duckweed present, decreasing with increased duckweed coverage and at 50% duckweed coverage, their middle legs' strides closely mimic their strides on sandpaper. Notably, Microvelia achieve speeds up to 56 body lengths per second on water, nearly double those observed on sandpaper and duckweed (both rough, frictional surfaces), highlighting their higher speeds on low friction surfaces such as the water's surface. This study highlights Microvelia's ecological adaptability, setting the stage for advancements in amphibious robotics that emulate their unique tripod gait for navigating complex terrains.

Analysis of Rowing Force of the Water Strider Middle Leg by Direct Measurement Using a Bio-Appropriating Probe and by Indirect Measurement Using Image Analysis

Rowing force of the middle leg of a water strider is one of the important factors affecting water repellency and applications in biomimetics, biomechanics, and biology. However, many previous studies have been based on estimated leg rowing force and lack some credibility. Therefore, we tried to measure leg rowing force directly by a force transducer. In this article, we report the rowing force of water striders obtained by direct and indirect measurements. In the direct measurement, water striders were set onto a sensor system and the rowing force of a middle leg of the set water striders was directly measured using a bio-appropriating probe (BAP), a kind of hook. In the indirect measurement, water striders were not fixed and the rowing force of locomoting water striders was evaluated by image analysis using a high-speed camera. As a result, we determined the rowing force by the direct measurement to be 955 μN, while the rowing force by the indirect measurement was 493 μN. We considered that the indirect measurement might lack some credibility because half the propellant energy was lost in the indirect force measurement due to various other factors.

Surface tension in biological systems - a common problem with a variety of solutions

Water is of fundamental importance to living organisms, not only as a universal solvent to maintain metabolic activity but also due to the effects the physical properties of water have on different organismal structures. In this review, we explore some examples of how living organisms deal with surfaces covered with or in contact with water. While we do not intend to describe all possible forms of interactions in every minute detail, we would like to draw attention to this intriguing interdisciplinary subject and discuss the positive and negative effects of the interaction forces between water molecules and organisms. Topics explored include locomotion on water, wettability of surfaces, benefits of retaining a film of air while submerged (Salvinia effect), surface tension of water inhibiting air-breathing, accumulation of water in small tubes, surface tension in non-mammalian and mammalian respiratory systems. In each topic, we address the importance of interactions with water and the adaptations seen in an organism to solve the surface-related challenges, trying to explore the different selective pressures acting onto different organisms allowing exploring or compensating these surface-related interactions.

Using Footpad Sculpturing to Enhance the Maneuverability and Speed of a Robotic Marangoni Surfer

From insects to arachnids to bacteria, the surfaces of lakes and ponds are teaming with life. Many modes of locomotion are employed by these organisms to navigate along the air-water interface, including the use of lipid-laden excretions that can locally change the surface tension of the water and induce a Marangoni flow. In this paper, we improved the speed and maneuverability of a miniature remote-controlled robot that mimics insect locomotion using an onboard tank of isopropyl alcohol and a series of servomotors to control both the rate and location of alcohol release to both propel and steer the robot across the water. Here, we studied the effect of a series of design changes to the foam rubber footpads, which float the robot and are integral in efficiently converting the alcohol-induced surface tension gradients into propulsive forces and effective maneuvering. Two designs were studied: a two-footpad design and a single-footpad design. In the case of two footpads, the gap between the two footpads was varied to investigate its impact on straight-line speed, propulsion efficiency, and maneuverability. An optimal design was found with a small but finite gap between the two pads of 7.5 mm. In the second design, a single footpad without a central gap was studied. This footpad had a rectangular cut-out in the rear to capture the alcohol. Footpads with wider and shallower cut-outs were found to optimize efficiency. This observation was reinforced by the predictions of a simple theoretical mechanical model. Overall, the optimized single-footpad robot outperformed the two-footpad robot, producing a 30% improvement in speed and a 400% improvement in maneuverability.

Amphibious Miniature Soft Jumping Robot with On-Demand In-Flight Maneuver

In nature, some semiaquatic arthropods evolve biomechanics for jumping on the water surface with the controlled burst of kinetic energy. Emulating these creatures, miniature jumping robots deployable on the water surface have been developed, but few of them achieve the controllability comparable to biological systems. The limited controllability and agility of miniature robots constrain their applications, especially in the biomedical field where dexterous and precise manipulation is required. Herein, an insect-scale magnetoelastic robot with improved controllability is designed. The robot can adaptively regulate its energy output to generate controllable jumping motion by tuning magnetic and elastic strain energy. Dynamic and kinematic models are developed to predict the jumping trajectories of the robot. On-demand actuation can thus be applied to precisely control the pose and motion of the robot during the flight phase. The robot is also capable of making adaptive amphibious locomotion and performing various tasks with integrated functional modules.

Scale dependence in hydrodynamic regime for jumping on water

Momentum transfer from the water surface is strongly related to the dynamical scale and morphology of jumping animals. Here, we investigate the scale-dependent momentum transfer of various jumping organisms and engineered systems at an air-water interface. A simplified analytical model for calculating the maximum momentum transfer identifies an intermediate dynamical scale region highly disadvantageous for jumping on water. The Weber number of the systems should be designed far from 1 to achieve high jumping performance on water. We design a relatively large water-jumping robot in the drag-dominant scale range, having a high Weber number, for maximum jumping height and distance. The jumping robot, around 10 times larger than water striders, has a take-off speed of 3.6 m/s facilitated by drag-based propulsion, which is the highest value reported thus far. The scale-dependent hydrodynamics of water jumpers provides a useful framework for understanding nature and robotic system interacting with the water surface.

From Light-Powered Motors, to Micro-Grippers, to Crawling Caterpillars, Snails and Beyond-Light-Responsive Oriented Polymers in Action

"How would you build a robot, the size of a bacteria, powered by light, that would swim towards the light source, escape from it, or could be controlled by means of different light colors, intensities or polarizations?" This was the question that Professor Diederik Wiersma asked PW on a sunny spring day in 2012, when they first met at LENS-the European Laboratory of Nonlinear Spectroscopy-in Sesto Fiorentino, just outside Florence in northern Italy. It was not just a vague question, as Prof. Wiersma, then the LENS director and leader of one of its research groups, already had an idea (and an ERC grant) about how to actually make such micro-robots, using a class of light-responsive oriented polymers, liquid crystal elastomers (LCEs), combined with the most advanced fabrication technique-two-photon 3D laser photolithography. Indeed, over the next few years, the LCE technology, successfully married with the so-called direct laser writing at LENS, resulted in a 60 micrometer long walker developed in Prof. Wiersma's group (as, surprisingly, walking at that stage proved to be easier than swimming). After completing his post-doc at LENS, PW returned to his home Faculty of Physics at the University of Warsaw, and started experimenting with LCE, both in micrometer and millimeter scales, in his newly established Photonic Nanostructure Facility. This paper is a review of how the ideas of using light-powered soft actuators in micromechanics and micro-robotics have been evolving in Warsaw over the last decade and what the outcomes have been so far.

A remotely controlled Marangoni surfer

Inspired by creatures that have naturally mastered locomotion on the air-water interface, we developed and built a self-powered, remotely controlled surfing robot capable of traversing this boundary by harnessing surface tension modification for both propulsion and steering through a controlled release of isopropyl alcohol. In this process, we devised and implemented novel release valve and steering mechanisms culminating in a surfer with distinct capabilities. Our robot measures about 110 mm in length and can travel as fast as 0.8 body length per second. Interestingly, we found that the linear speed of the robot follows a 1/3 power law with the release rate of the propellant. Additional maneuverability tests also revealed that the robot is able to withstand 20 mm s^-2in centripetal acceleration while turning. Here, we thoroughly discuss the design, development, performance, overall capabilities, and ultimate limitations of our robotic surfer.

Locomotion and kinematics of arachnids

A basic feature of animals is the capability to move and disperse. Arachnids are one of the oldest lineages of terrestrial animals and characterized by an octopodal locomotor apparatus with hydraulic limb extension. Their locomotion repertoire includes running, climbing, jumping, but also swimming, diving, abseiling, rolling, gliding and -passively- even flying. Studying the unique locomotor functions and movement ecology of arachnids is important for an integrative understanding of the ecology and evolution of this diverse and ubiquitous animal group. Beyond biology, arachnid locomotion is inspiring robotic engineers. The aim of this special issue is to display the state of the interdisciplinary research on arachnid locomotion, linking physiology and biomechanics with ecology, ethology and evolutionary biology. It comprises five reviews and ten original research reports covering diverse topics, ranging from the neurophysiology of arachnid movement, the allometry and sexual dimorphism of running kinematics, the effect of autotomy or heavy body parts on locomotor efficiency, and the evolution of silk-spinning choreography, to the biophysics of ballooning and ballistic webs. This closes a significant gap in the literature on animal biomechanics.

How drain flies manage to almost never get washed away

Drain flies, Psychodidae spp. (Order Diptera, Family Psychodidae), commonly reside in our homes, annoying us in our bathrooms, kitchens, and laundry rooms. They like to stay near drains where they lay their eggs and feed on microorganisms and liquid carbohydrates found in the slime that builds up over time. Though they generally behave very sedately, they react quite quickly when threatened with water. A squirt from the sink induces them to fly away, seemingly unaffected, and flushing the toilet with flies inside does not necessarily whisk them down. We find that drain flies’ remarkable ability to evade such potentially lethal threats does not stem primarily from an evolved behavioral response, but rather from a unique hair covering with a hierarchical roughness. This covering, that has never been previously explored, imparts superhydrophobicity against large droplets and pools and antiwetting properties against micron-sized droplets and condensation. We examine how this hair covering equips them to take advantage of the relevant fluid dynamics and flee water threats in domestic and natural environments including: millimetric-sized droplets, mist, waves, and pools of water. Our findings elucidate drain flies’ astounding ability to cope with a wide range of water threats and almost never get washed down the drain.

Friction on water sliders

A body in motion tends to stay in motion but is often slowed by friction. Here we investigate the friction experienced by centimeter-sized bodies sliding on water. We show that their motion is dominated by skin friction due to the boundary layer that forms in the fluid beneath the body. We develop a simple model that considers the boundary layer as quasi-steady, and is able to capture the experimental behaviour for a range of body sizes, masses, shapes and fluid viscosities. Furthermore, we demonstrate that friction can be reduced by modification of the body's shape or bottom topography. Our results are significant for understanding natural and artificial bodies moving at the air-water interface, and can inform the design of aerial-aquatic microrobots for environmental exploration and monitoring.

Surface swimmers, harnessing the interface to self-propel

In the study of microscopic flows, self-propulsion has been particularly topical in recent years, with the rise of miniature artificial swimmers as a new tool for flow control, low Reynolds number mixing, micromanipulation or even drug delivery. It is possible to take advantage of interfacial physics to propel these microrobots, as demonstrated by recent experiments using the proximity of an interface, or the interface itself, to generate propulsion at low Reynolds number. This paper discusses how a nearby interface can provide the symmetry breaking necessary for propulsion. An overview of recent experiments illustrates how forces at the interface can be used to generate locomotion. Surface swimmers ranging from the microscopic scale to typically the capillary length are covered. Two systems are then discussed in greater detail. The first is composed of floating ferromagnetic spheres that assemble through capillarity into swimming structures. Two previously studied configurations, triangular and collinear, are discussed and contrasted. A new interpretation for the triangular swimmer is presented. Then, the non-monotonic influence of surface tension and viscosity is evidenced in the collinear case. Finally, a new system is introduced. It is a magnetically powered, centimeter-sized piece that swims similarly to water striders.

Locomotion of arthropods in aquatic environment and their applications in robotics

Many bio-inspired robots have been developed so far after careful investigation of animals' locomotion. To successfully apply the locomotion of natural counterparts to robots for efficient and improved mobility, it is essential to understand their principles. Although a lot of research has studied either animals' locomotion or bio-inspired robots, there have only been a few attempts to broadly review both of them in a single article. Among the millions of animal species, this article reviewed various forms of aquatic locomotion in arthropods including relevant bio-inspired robots. Despite some previous robotics research inspired by aquatic arthropods, we found that many less-investigated or even unexplored areas are still present. Therefore, this article has been prepared to identify what types of new robotics research can be carried out after drawing inspiration from the aquatic locomotion of arthropods and to provide fruitful insights that may lead us to develop an agile and efficient aquatic robot.

Surface tension dominates insect flight on fluid interfaces

Flight on the 2D air-water interface, with body weight supported by surface tension, is a unique locomotion strategy well adapted for the environmental niche on the surface of water. Although previously described in aquatic insects like stoneflies, the biomechanics of interfacial flight has never been analysed. Here, we report interfacial flight as an adapted behaviour in waterlily beetles (Galerucella nymphaeae) which are also dexterous airborne fliers. We present the first quantitative biomechanical model of interfacial flight in insects, uncovering an intricate interplay of capillary, aerodynamic and neuromuscular forces. We show that waterlily beetles use their tarsal claws to attach themselves to the interface, via a fluid contact line pinned at the claw. We investigate the kinematics of interfacial flight trajectories using high-speed imaging and construct a mathematical model describing the flight dynamics. Our results show that non-linear surface tension forces make interfacial flight energetically expensive compared with airborne flight at the relatively high speeds characteristic of waterlily beetles, and cause chaotic dynamics to arise naturally in these regimes. We identify the crucial roles of capillary-gravity wave drag and oscillatory surface tension forces which dominate interfacial flight, showing that the air-water interface presents a radically modified force landscape for flapping wing flight compared with air.

Diversity in Morphology and Locomotory Behavior Is Associated with Niche Expansion in the Semi-aquatic Bugs

Acquisition of new ecological opportunities is a major driver of adaptation and species diversification [1, 2, 3, 4]. However, how groups of organisms expand their habitat range is often unclear [3]. We study the Gerromorpha, a monophyletic group of heteropteran insects that occupy a large variety of water surface-associated niches, from small puddles to open oceans [5, 6]. Due to constraints related to fluid dynamics [7, 8, 9] and exposure to predation [5, 10], we hypothesize that selection will favor high speed of locomotion in the Gerromorpha that occupy water-air interface niches relative to the ancestral terrestrial life style. Through biomechanical assays and phylogenetic reconstruction, we show that only species that occupy water surface niches can generate high maximum speeds. Basally branching lineages with ancestral mode of locomotion, consisting of tripod gait, achieved increased speed on the water through increasing midleg length, stroke amplitude, and stroke frequency. Derived lineages evolved rowing as a novel mode of locomotion through simultaneous sculling motion almost exclusively of the midlegs. We demonstrate that this change in locomotory behavior significantly reduced the requirement for high stroke frequency and energy expenditure. Furthermore, we show how the evolution of rowing, by reducing stroke frequency, may have eliminated the constraint on body size, which may explain the evolution of larger Gerromorpha. This correlation between the diversity in locomotion behaviors and niche specialization suggests that changes in morphology and behavior may facilitate the invasion and diversification in novel environments.

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Semi-aquatic bugs are adapted to life on water surface niches worldwide

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Life on the water surface requires high locomotory maximum speed

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Increased speed was achieved through changes in leg length and locomotion behavior

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Derived lineages evolved rowing, an energy-efficient mode of locomotion on water

Water striders adjust leg movement speed to optimize takeoff velocity for their morphology

Water striders are water-walking insects that can jump upwards from the water surface. Quick jumps allow striders to avoid sudden dangers such as predators' attacks, and therefore their jumping is expected to be shaped by natural selection for optimal performance. Related species with different morphological constraints could require different jumping mechanics to successfully avoid predation. Here we show that jumping striders tune their leg rotation speed to reach the maximum jumping speed that water surface allows. We find that the leg stroke speeds of water strider species with different leg morphologies correspond to mathematically calculated morphology-specific optima that maximize vertical takeoff velocity by fully exploiting the capillary force of water. These results improve the understanding of correlated evolution between morphology and leg movements in small jumping insects, and provide a theoretical basis to develop biomimetic technology in semi-aquatic environments.

How water striders escape from danger by jumping vertically from the water surface without sinking is an open question in biomechanics. Yang et al. show that water strider species with varying leg lengths and body masses tune their leg movements to maximize jump speeds without breaking the surface of the water.

Elegant Shadow Making Tiny Force Visible for Water-Walking Arthropods and Updated Archimedes' Principle

Forces acted on legs of water-walking arthropods with weights in dynes are of great interest for entomologist, physicists, and engineers. While their floating mechanism has been recognized, the in vivo leg forces stationary have not yet been simultaneously achieved. In this study, their elegant bright-edged leg shadows are used to make the tiny forces visible and measurable based on the updated Archimedes' principle. The force was approximately proportional to the shadow area with a resolution from nanonewton to piconewton/pixel. The sum of leg forces agreed well with the body weight measured with an accurate electronic balance, which verified updated Archimedes' principle at the arthropod level. The slight changes of vertical body weight focus position and the body pitch angle have also been revealed for the first time. The visualization of tiny force by shadow is cost-effective and very sensitive and could be used in many other applications.

BIOMECHANICS. Jumping on water: Surface tension-dominated jumping of water striders and robotic insects

Jumping on water is a unique locomotion mode found in semi-aquatic arthropods, such as water striders. To reproduce this feat in a surface tension-dominant jumping robot, we elucidated the hydrodynamics involved and applied them to develop a bio-inspired impulsive mechanism that maximizes momentum transfer to water. We found that water striders rotate the curved tips of their legs inward at a relatively low descending velocity with a force just below that required to break the water surface (144 millinewtons/meter). We built a 68-milligram at-scale jumping robotic insect and verified that it jumps on water with maximum momentum transfer. The results suggest an understanding of the hydrodynamic phenomena used by semi-aquatic arthropods during water jumping and prescribe a method for reproducing these capabilities in artificial systems.

Water surface locomotion in tropical canopy ants

Upon falling onto the water surface, most terrestrial arthropods helplessly struggle and are quickly eaten by aquatic predators. Exceptions to this outcome mostly occur among riparian taxa that escape by walking or swimming at the water surface. Here we document sustained, directional, neustonic locomotion (i.e. surface swimming) in tropical arboreal ants. We dropped 35 species of ants into natural and artificial aquatic settings in Peru and Panama to assess their swimming ability. Ten species showed directed surface swimming at speeds >3 body lengths s(-1), with some swimming at absolute speeds >10 cm s(-1). Ten other species exhibited partial swimming ability characterized by relatively slow but directed movement. The remaining species showed no locomotory control at the surface. The phylogenetic distribution of swimming among ant genera indicates parallel evolution and a trend toward negative association with directed aerial descent behavior. Experiments with workers of Odontomachus bauri showed that they escape from the water by directing their swimming toward dark emergent objects (i.e. skototaxis). Analyses of high-speed video images indicate that Pachycondyla spp. and O. bauri use a modified alternating tripod gait when swimming; they generate thrust at the water surface via synchronized treading and rowing motions of the contralateral fore and mid legs, respectively, while the hind legs provide roll stability. These results expand the list of facultatively neustonic terrestrial taxa to include various species of tropical arboreal ants.

Fish predation by semi-aquatic spiders: a global pattern

More than 80 incidences of fish predation by semi-aquatic spiders--observed at the fringes of shallow freshwater streams, rivers, lakes, ponds, swamps, and fens--are reviewed. We provide evidence that fish predation by semi-aquatic spiders is geographically widespread, occurring on all continents except Antarctica. Fish predation by spiders appears to be more common in warmer areas between 40° S and 40° N. The fish captured by spiders, usually ranging from 2-6 cm in length, are among the most common fish taxa occurring in their respective geographic area (e.g., mosquitofish [Gambusia spp.] in the southeastern USA, fish of the order Characiformes in the Neotropics, killifish [Aphyosemion spp.] in Central and West Africa, as well as Australian native fish of the genera Galaxias, Melanotaenia, and Pseudomugil). Naturally occurring fish predation has been witnessed in more than a dozen spider species from the superfamily Lycosoidea (families Pisauridae, Trechaleidae, and Lycosidae), in two species of the superfamily Ctenoidea (family Ctenidae), and in one species of the superfamily Corinnoidea (family Liocranidae). The majority of reports on fish predation by spiders referred to pisaurid spiders of the genera Dolomedes and Nilus (>75% of observed incidences). There is laboratory evidence that spiders from several more families (e.g., the water spider Argyroneta aquatica [Cybaeidae], the intertidal spider Desis marina [Desidae], and the 'swimming' huntsman spider Heteropoda natans [Sparassidae]) predate fish as well. Our finding of such a large diversity of spider families being engaged in fish predation is novel. Semi-aquatic spiders captured fish whose body length exceeded the spiders' body length (the captured fish being, on average, 2.2 times as long as the spiders). Evidence suggests that fish prey might be an occasional prey item of substantial nutritional importance.

STRIDE II: A Water Strider-inspired Miniature Robot with Circular Footpads

Water strider insects have attracted the attention of many researchers due to their power-efficient and agile water surface locomotion. This study proposes a new water strider insect-inspired robot, called STRIDE II, which uses new circular footpads for high lift, stability and payload capability, and a new elliptical leg rotation mechanism for more efficient water surface propulsion. Using the advantage of scaling effects on surface tension versus buoyancy, similar to water strider insects, this robot uses the repulsive surface tension force on its footpads as the dominant lift principle instead of creating buoyancy by using very skinny (1 mm diameter) circular footpads coated with a superhydrophobic material. The robot and the insect propel quickly and power efficiently on the water surface by the sculling motion of their two side-legs, which never break the water surface completely. This paper proposes models for the lift, drag and propulsion forces and the energy efficiency of the proposed legged robot, and experiments are conducted to verify these models. After optimizing the robot design using the lift models, a maximum lift capacity of 55 grams is achieved using 12 footpads with a 4.2 cm outer diameter, while the robot itself weighs 21.75 grams. For this robot, a propulsion efficiency of 22.3% was measured. The maximum forward and turning speeds of the robot were measured as 71.5 mm/sec and 0.21 rad/sec, respectively. These water strider robots could be used in water surface monitoring, cleaning and analysis in lakes, dams, rivers and the sea.

Wave drag on floating bodies

We measure the deceleration of liquid nitrogen drops floating at the surface of a liquid bath. On water, the friction force is found to be about 10 to 100 times larger than on a solid substrate, which is shown to arise from wave resistance. We investigate the influence of the bath viscosity and show that the dissipation decreases as the viscosity is increased, owing to wave damping. The measured resistance is well predicted by a model imposing a vertical force (i.e., the drop weight) on a finite area, as long as the wake can be considered stationary.

The hummingbird tongue is a fluid trap, not a capillary tube

Hummingbird tongues pick up a liquid, calorie-dense food that cannot be grasped, a physical challenge that has long inspired the study of nectar-transport mechanics. Existing biophysical models predict optimal hummingbird foraging on the basis of equations that assume that fluid rises through the tongue in the same way as through capillary tubes. We demonstrate that the hummingbird tongue does not function like a pair of tiny, static tubes drawing up floral nectar via capillary action. Instead, we show that the tongue tip is a dynamic liquid-trapping device that changes configuration and shape dramatically as it moves in and out of fluids. We also show that the tongue-fluid interactions are identical in both living and dead birds, demonstrating that this mechanism is a function of the tongue structure itself, and therefore highly efficient because no energy expenditure by the bird is required to drive the opening and closing of the trap. Our results rule out previous conclusions from capillarity-based models of nectar feeding and highlight the necessity of developing a new biophysical model for nectar intake in hummingbirds. Our findings have ramifications for the study of feeding mechanics in other nectarivorous birds, and for the understanding of the evolution of nectarivory in general. We propose a conceptual mechanical explanation for this unique fluid-trapping capacity, with far-reaching practical applications (e.g., biomimetics).

Nano to micro structural hierarchy is crucial for stable superhydrophobic and water-repellent surfaces

Water-repellent biological systems such as lotus leaves and water strider's legs exhibit two-level hierarchical surface structures with the smallest characteristic size on the order of a few hundreds nanometers. Here we show that such nano to micro structural hierarchy is crucial for a superhydrophobic and water-repellent surface. The first level structure at the scale of a few hundred nanometers allows the surface to sustain the highest pressure found in the natural environment of plants and insects in order to maintain a stable Cassie state. The second level structure leads to dramatic reduction in contact area, hence minimizing adhesion between water and the solid surface. The two level hierarchy further stabilizes the superhydrophobic state by enlarging the energy difference between the Cassie and the Wenzel states. The stability of Cassie state at the nanostructural scale also allows the higher level structures to restore superhydrophobicity easily after the impact of a rainfall.

Roll and Pitch Motion Analysis of a Biologically Inspired Quadruped Water Runner Robot

In this paper, the roll and pitch dynamics of a biologically inspired quadruped water runner robot are analyzed, and a stable robot design is proposed and tested. The robot’s foot—water interaction force is derived using drag equations. Roll direction instability is attributed to a small roll moment of inertia and large instantaneous roll moments generated by the foot—water interaction forces. Roll dynamics are modeled by approximating the water as a linear spring. Using this model, estimates on the roll moment of inertia that can endure moments generated by water interactions are derived. Instability in the pitch direction is caused by the thrust force the four feet exert on the water. To correct this, a circular tail which can negate the pitch moment around the center of mass is proposed. Both passive and active tail designs which can cope with disturbances are introduced. Based on these analyses, a stable water runner is designed, and built. Experimental high-speed video footage demonstrates the stable roll and pitch motion of the robot. Simulations are used to estimate robustness against disturbances, waves, and leg running frequency variations. It is found that roll motion is more sensitive to disturbances when compared with the pitch direction.

The management of fluid and wave resistances by whirligig beetles

Whirligig beetles (Coleoptera: Gyrinidae) are semi-aquatic insects with a morphology and propulsion system highly adapted to their life at the air-water interface. When swimming on the water surface, beetles are subject to both fluid resistance and wave resistance. The purpose of this study was to analyse swimming speed, leg kinematics and the capillarity waves produced by whirligig beetles on the water surface in a simple environment. Whirligig beetles of the species Gyrinus substriatus were filmed in a large container, with a high-speed camera. Resistance forces were also estimated. These beetles used three types of leg kinematics, differing in the sequence of leg strokes: two for swimming at low speed and one for swimming at high speed. Four main speed patterns were produced by different combinations of these types of leg kinematics, and the minimum speed for the production of surface waves (23 cm s(-1)) corresponded to an upper limit when beetles used low-speed leg kinematics. Each type of leg kinematics produced characteristic capillarity waves, even if the beetles moved at a speed below 23 cm s(-1). Our results indicate that whirligig beetles use low- and high-speed leg kinematics to avoid maximum drag and swim at speed corresponding to low resistances.

Buoyant force and sinking conditions of a hydrophobic thin rod floating on water

Owing to the superhydrophobicity of their legs, such creatures as water striders and fisher spiders can stand effortlessly, walk and jump quickly on water. Directed toward understanding their superior repellency ability, we consider hydrophobic thin rods of several representative cross sections pressing a water surface. First, the shape function of the meniscus surrounding a circular rod is solved analytically, and thereby the maximal buoyant force is derived as a function of the Young's contact angle and the rod radius. Then we discuss the critical conditions for a rod to sink into water, including the maximal volume condition and the meniscus-contact condition. Furthermore, we study the sinking conditions and the maximal buoyant forces of hydrophobic long rods with elliptical, triangular, or hexagonal cross-section shapes. The theoretical solutions are quantitatively consistent with existing experimental and numerical results. Finally, the optimized structures of water strider legs are analyzed to elucidate why they can achieve a very big buoyant force on water.

Superior water repellency of water strider legs with hierarchical structures: experiments and analysis

Water striders are a type of insect with the remarkable ability to stand effortlessly and walk quickly on water. This article reports the water repellency mechanism of water strider legs. Scanning electron microscope (SEM) observations reveal the uniquely hierarchical structure on the legs, consisting of numerous oriented needle-shaped microsetae with elaborate nanogrooves. The maximal supporting force of a single leg against water surprisingly reaches up to 152 dynes, about 15 times the total body weight of this insect. We theoretically demonstrate that the cooperation of nanogroove structures on the oriented microsetae, in conjunction with the wax on the leg, renders such water repellency. This finding might be helpful in the design of innovative miniature aquatic devices and nonwetting materials.

Meniscus-climbing insects

Water-walking insects and spiders rely on surface tension for static weight support and use a variety of means to propel themselves along the surface. To pass from the water surface to land, they must contend with the slippery slopes of the menisci that border the water's edge. The ability to climb menisci is a skill exploited by water-walking insects as they seek land in order to lay eggs or avoid predators; moreover, it was a necessary adaptation for their ancestors as they evolved from terrestrials to live exclusively on the water surface. Many millimetre-scale water-walking insects are unable to climb menisci using their traditional means of propulsion. Through a combined experimental and theoretical study, here we investigate the meniscus-climbing technique that such insects use. By assuming a fixed body posture, they deform the water surface in order to generate capillary forces: they thus propel themselves laterally without moving their appendages. We develop a theoretical model for this novel mode of propulsion and use it to rationalize the climbers' characteristic body postures and predict climbing trajectories consistent with those reported here and elsewhere.

Theoretical study on the body form and swimming pattern of Anomalocaris based on hydrodynamic simulation

Anomalocarid arthropod is the largest known predatory animal of middle Cambrian. Studies on Anomalocaris have been piled up in the past two decades since the first reasonable reconstruction had achieved in 1980s. Recent finding of legs beneath lobes on Parapeytoia Yunnanensis shows arthropod affinities, however, many researchers believe that it must be a powerful swimmer by the use of developed lobes. In this work, we investigate swimming behaviour of Anomalocaris in water by performing hydrodynamical calculation. As a result of simulation using moving particle method possible swimming motion of Anomalocaris is obtained. In the computer we can change the morphology from known bauplan of Anomalocaris found as fossil record. It makes us possible to discuss on the variants of Anomalocaris at the intermediate state of evolution process. Such new methodology using computer reveals how and from where Anomalocaris evolved.

Paradox lost: answers and questions about walking on water

The mechanism by which surface tension allows water striders (members of the genus Gerris) to stand on the surface of a pond or stream is a classic example for introductory classes in animal mechanics. Until recently,however, the question of how these insects propelled themselves remained open. One plausible mechanism–creating momentum in the water via the production of capillary waves–led to a paradox: juvenile water striders move their limbs too slowly to produce waves, but nonetheless travel across the water's surface. Two recent papers demonstrate that both water striders and water-walking spiders circumvent this paradox by foregoing any reliance on waves to gain purchase on the water. Instead they use their legs as oars, and the capillary `dimple' formed by each leg acts as the oar's blade. The resulting hydrodynamic drag produces vortices in the water, and the motion of these vortices imparts the necessary fluid momentum. These studies pave the way for a more thorough understanding of the complex mechanics of walking on water, and an exploration of how this intriguing form of locomotion scales with the size of the organism.

The hydrodynamics of water strider locomotion

Water striders Gerridae are insects of characteristic length 1 cm and weight 10 dynes that reside on the surface of ponds, rivers, and the open ocean. Their weight is supported by the surface tension force generated by curvature of the free surface, and they propel themselves by driving their central pair of hydrophobic legs in a sculling motion. Previous investigators have assumed that the hydrodynamic propulsion of the water strider relies on momentum transfer by surface waves. This assumption leads to Denny's paradox: infant water striders, whose legs are too slow to generate waves, should be incapable of propelling themselves along the surface. We here resolve this paradox through reporting the results of high-speed video and particle-tracking studies. Experiments reveal that the strider transfers momentum to the underlying fluid not primarily through capillary waves, but rather through hemispherical vortices shed by its driving legs. This insight guided us in constructing a self-contained mechanical water strider whose means of propulsion is analogous to that of its natural counterpart.

Performance and adaptive value of tarsal morphology in rove beetles of the genusStenus(Coleoptera, Staphylinidae)

To evaluate the adaptive value of the widening of the bilobed tarsi that has paralleled the tremendous radiation of the staphylinid genus Stenus, the performance of slender versus wide tarsi has been evaluated in two different contexts: (i) locomotion on the surface of water, and (ii) climbing on vertical (plant) surfaces. Contact angle measurements at the underside of the tarsi have revealed that, irrespective of tarsus width, all the investigated species are well supported by the surface of water while walking on it. The main selective demands driving the widening of the tarsi in several lineages have instead come from their firm attachment to smooth plant surfaces. This is suggested by measurements of the maximum vertical pulling forces exerted by intact and manipulated individuals on various rough and smooth surfaces. Species with widened tarsi associated with considerably more tenet setae attain significantly higher pulling forces,particularly on smooth surfaces. The tarsal setae are of greater importance on smooth surfaces, but the claws seem to be more important on rough substrata. On substrata that combine the attributes of rough and smooth surfaces, both claws and tenent setae add significantly to the pulling forces exerted,suggesting a functional synergism. The contribution of the present study to our understanding of insect tarsal attachment to surfaces with a variety of textures is discussed.

Locomotion on the water surface: hydrodynamic constraints on rowing velocity require a gait change

Fishing spiders, Dolomedes triton (Araneae, Pisauridae), propel themselves across the water surface using two gaits: they row with four legs at sustained velocities below 0.2 m s(−)(1) and they gallop with six legs at sustained velocities above 0.3 m s(−)(1). Because, during rowing, most of the horizontal thrust is provided by the drag of the leg and its associated dimple as both move across the water surface, the integrity of the dimple is crucial. We used a balance, incorporating a biaxial clinometer as the transducer, to measure the horizontal thrust forces on a leg segment subjected to water moving past it in non-turbulent flow. Changes in the horizontal forces reflected changes in the status of the dimple and showed that a stable dimple could exist only under conditions that combined low flow velocity, shallow leg-segment depth and a long perimeter of the interface between the leg segment and the water. Once the dimple disintegrated, leaving the leg segment submerged, less drag was generated. Therefore, the disintegration of the dimple imposes a limit on the efficacy of rowing with four legs. The limited degrees of freedom in the leg joints (the patellar joints move freely in the vertical plane but allow only limited flexion in other planes) impose a further constraint on rowing by restricting the maximum leg-tip velocity (to approximately 33 % of that attained by the same legs during galloping). This confines leg-tip velocities to a range at which maintenance of the dimple is particularly important. The weight of the spider also imposes constraints on the efficacy of rowing: because the drag encountered by the leg-cum-dimple is proportional to the depth of the dimple and because dimple depth is proportional to the supported weight, only spiders with a mass exceeding 0.48 g can have access to the full range of hydrodynamically possible dimple depths during rowing. Finally, the maximum velocity attainable during rowing is constrained by the substantial drag experienced by the spider during the glide interval between power strokes, drag that is negligible for a galloping spider because, for most of each inter-stroke interval, the spider is airborne. We conclude that both hydrodynamic and anatomical constraints confine rowing spiders to sustained velocities lower than 0.3 m s(−)(1), and that galloping allows spiders to move considerably faster because galloping is free of these constraints.