Maneuvering in an arboreal habitat: the effects of turning angle on the locomotion of three sympatric ecomorphs ofAnolislizards

Stop, then go! Rapid acceleration offsets the costs of intermittent locomotion when turning in Florida scrub lizards

Intermittent locomotion is a common locomotor mode in small vertebrates. Pausing is thought to aid in locating a predator or prey, enhancing crypsis, lowering energy costs, and/or maneuvering around obstacles or toward a refuge. Many lizards flee predators by turning into potential refugia and subsequently pausing, presumably to conceal themselves. Intermittent locomotion may be associated with turning by allowing an animal time to assess its surroundings and/or decreasing the likelihood of losing its footing. In this study, we quantify locomotor performance and the use of intermittent locomotion in Florida scrub lizards (Sceloporus woodi) when navigating either a 45° or 90° turn. Lizards paused in 92.91% of all trials, and yet despite pausing, instantaneous speed was not different entering or exiting the turn. This result suggests that turning comes at minimal cost to forward speed for lizards under these conditions. Pausing during a turn, however, did slow speed in the turn. Interestingly, the speed in the turn did not differ in trials with a pause before the turn versus trials without a pause. The angle of the turn also had no effect on whether lizards paused. We found that lizards increase peak acceleration following pauses to compensate for lost speed during the pause, providing a mechanism that may minimize negative fitness effects associated with slow running speeds and allow intermittent locomotion to be such a common strategy in lizards.

Scaling of maneuvering performance in baleen whales: larger whales outperform expectations

Despite their enormous size, whales make their living as voracious predators. To catch their much smaller, more maneuverable prey, they have developed several unique locomotor strategies that require high energetic input, high mechanical power output and a surprising degree of agility. To better understand how body size affects maneuverability at the largest scale, we used bio-logging data, aerial photogrammetry and a high-throughput approach to quantify the maneuvering performance of seven species of free-swimming baleen whale. We found that as body size increases, absolute maneuvering performance decreases: larger whales use lower accelerations and perform slower pitch-changes, rolls and turns than smaller species. We also found that baleen whales exhibit positive allometry of maneuvering performance: relative to their body size, larger whales use higher accelerations, and perform faster pitch-changes, rolls and certain types of turns than smaller species. However, not all maneuvers were impacted by body size in the same way, and we found that larger whales behaviorally adjust for their decreased agility by using turns that they can perform more effectively. The positive allometry of maneuvering performance suggests that large whales have compensated for their increased body size by evolving more effective control surfaces and by preferentially selecting maneuvers that play to their strengths.

Jumping with adhesion: landing surface incline alters impact force and body kinematics in crested geckos

Arboreal habitats are characterized by a complex three-dimensional array of branches that vary in numerous characteristics, including incline, compliance, roughness, and diameter. Gaps must often be crossed, and this is frequently accomplished by leaping. Geckos bearing an adhesive system often jump in arboreal habitats, although few studies have examined their jumping biomechanics. We investigated the biomechanics of landing on smooth surfaces in crested geckos, Correlophus ciliatus, asking whether the incline of the landing platform alters impact forces and mid-air body movements. Using high-speed videography, we examined jumps from a horizontal take-off platform to horizontal, 45° and 90° landing platforms. Take-off velocity was greatest when geckos were jumping to a horizontal platform. Geckos did not modulate their body orientation in the air. Body curvature during landing, and landing duration, were greatest on the vertical platform. Together, these significantly reduced the impact force on the vertical platform. When landing on a smooth vertical surface, the geckos must engage the adhesive system to prevent slipping and falling. In contrast, landing on a horizontal surface requires no adhesion, but incurs high impact forces. Despite a lack of mid-air modulation, geckos appear robust to changing landing conditions.

Moving to the city: testing the implications of morphological shifts on locomotor performance in introduced urban lizards

Understanding how morphology affects performance in novel environments and how populations shift their morphology in response to environmental selective pressures is necessary to understand how invaders can be successful. We tested these relationships in a global colonizer, the common wall lizard (Podarcis muralis), translocated to Cincinnati, OH, USA 70 years ago. We investigated how morphology shifts in this population inhabiting a novel environment, how these morphological shifts influence locomotor performance and how performance changes in novel conditions. We compared the morphology of museum specimens and current lizards to see which aspects of morphology have shifted over time. Although overall body size did not change, most body dimensions reduced in size. We measured sprint speed with a full-factorial design of substrate type, incline angle and obstacles. We identified a pattern of negative correlation in sprint performance between conditions with and without obstacles. The locomotor advantage of larger body size was diminished when obstacles were present. Finally, there was no relationship between individual variation in contemporary morphology and sprint performance, providing no support to the hypothesis that these shifts are attributable to selective pressures on locomotor performance in the conditions tested.

Mechanisms for mid-air reorientation using tail rotation in gliding geckos

Arboreal animals face numerous challenges when negotiating complex three-dimensional terrain. Directed aerial descent or gliding flight allows for rapid traversal of arboreal environments, but presents control challenges. Some animals, such as birds or gliding squirrels, have specialized structures to modulate aerodynamic forces while airborne. However, many arboreal animals do not possess these specializations but still control posture and orientation in mid-air. One of the largest inertial segments in lizards is their tail. Inertial reorientation can be used to attain postures appropriate for controlled aerial descent. Here, we discuss the role of tail inertia in a range of mid-air reorientation behaviors using experimental data from geckos in combination with mathematical and robotic models. Geckos can self-right in mid-air by tail rotation alone. Equilibrium glide behavior of geckos in a vertical wind tunnel show that they can steer toward a visual stimulus by using rapid, circular tail rotations to control pitch and yaw. Multiple coordinated tail responses appear to be required for the most effective terminal velocity gliding. A mathematical model allows us to explore the relationship between morphology and the capacity for inertial reorientation by conducting sensitivity analyses, and testing control approaches. Robotic models further define the limits of performance and generate new control hypotheses. Such comparative analysis allows predictions about the diversity of performance across lizard morphologies, relative limb proportions, and provides insights into the evolution of aerial behaviors.

A Hierarchical View of Gecko Locomotion: Photic Environment, Physiological Optics, and Locomotor Performance

Terrestrial animals move in complex habitats that vary over space and time. The characteristics of these habitats are not only defined by the physical environment, but also by the photic environment, even though the latter has largely been overlooked. For example, numerous studies of have examined the role of habitat structure, such as incline, perch diameter, and compliance, on running performance. However, running performance likely depends heavily on light level. Geckos are an exceptional group for analyzing the role of the photic environment on locomotion as they exhibit several independent shifts to diurnality from a nocturnal ancestor, they are visually-guided predators, and they are extremely diverse. Our initial goal is to discuss the range of photic environments that can be encountered in terrestrial habitats, such as day versus night, canopy cover in a forest, fog, and clouds. We then review the physiological optics of gecko vision with some new information about retina structures, the role of vision in motor-driven behaviors, and what is known about gecko locomotion under different light conditions, before demonstrating the effect of light levels on gecko locomotor performance. Overall, we highlight the importance of integrating sensory and motor information and establish a conceptual framework as guide for future research. Several future directions, such as understanding the role of pupil dynamics, are dependent on an integrative framework. This general framework can be extended to any motor system that relies on sensory information, and can be used to explore the impact of performance features on diversification and evolution.

Forelimb position affects facultative bipedal locomotion in lizards

Recent work indicates that bipedal posture in lizards is advantageous during obstacle negotiation. However, little is known about how bipedalism occurs beyond a lizard's acceleratory threshold. Furthermore, no study to date has examined the effects of forelimb position on the body center of mass (BCoM) in the context of bipedalism. This study quantified the frequency of bipedalism when sprinting with versus without an obstacle at 0.8 m from the start of a sprint. Forelimb positions were quantified during bipedal running at the start of a sprint and when crossing an obstacle. Two species with contrasting body forms (and thus different BCoM) were studied (Sceloporus woodi and Aspidoscelis sexlineata) to assess potential variation due to body plan and obstacle-crossing behavior. No significant difference in frequency of bipedalism was observed in S. woodi with or without an obstacle. However, A. sexlineata primarily used a bipedal posture when sprinting. Forelimb positions were variable in S. woodi and stereotyped in A. sexlineata Caudal extension of the forelimbs helped shift the BCoM posteriorly and transition to, or maintain, a bipedal posture in A. sexlineata, but not in S. woodi The posterior shift in BCoM, aided by more caudally placed forelimbs, helps raise the trunk from the ground, regardless of obstacle presence. The body plan, specifically the length of the trunk and tail, and forelimb position work together with acceleration to shift the BCoM posteriorly to transition to a bipedal posture. Thus, species exhibit morphological and behavioral adjustments to transition to and maintain facultative bipedalism while sprinting.

Lateral movements of a massive tail influence gecko locomotion: an integrative study comparing tail restriction and autotomy

Tails are an intricate component of the locomotor system for many vertebrates. Leopard geckos (Eublepharis macularius) possess a large tail that is laterally undulated during steady locomotion. However, the tail is readily shed via autotomy, resulting in the loss of tail function, loss in body mass, and a cranial shift in the center of mass. To elucidate the function of tail undulations, we investigated changes in limb kinematics after manipulating the tail artificially by restricting tail undulations and naturally by removing the tail via autotomy. Restricting tail undulations resulted in kinematic adjustments similar to those that occur following tail autotomy, characterized by more flexed hind limb joints. These data suggest that effects of autotomy on locomotion may be linked to the loss of tail movements rather than the loss of mass or a shift in center of mass. We also provide empirical support for the link between lateral tail undulations and step length through the rotation of the pelvic girdle and retraction of the femur. Restriction and autotomy of the tail limits pelvic rotation, which reduces femur retraction and decreases step length. Our findings demonstrate a functional role for tail undulations in geckos, which likely applies to other terrestrial vertebrates.

The effects of multiple obstacles on the locomotor behavior and performance of a terrestrial lizard

Negotiation of variable terrain is important for many small terrestrial vertebrates. Variation in the running surface due to obstacles (woody debris, vegetation, rocks) can alter escape paths and running performance. The ability to navigate obstacles likely influences survivorship via predator evasion success, and other key ecological tasks (finding mates, acquiring food). Earlier work established that running posture and sprint performance are altered when organisms face an obstacle, and yet studies involving multiple obstacles are limited. Indeed, some habitats are cluttered with obstacles, while others are not. For many species, obstacle density may be important in predator escape and/or colonization potential by conspecifics. This study examines how multiple obstacles influence running behavior and locomotor posture in lizards. We predict that an increasing number of obstacles will increase the frequency of pausing and decrease sprint velocity. Furthermore, bipedal running over multiple obstacles is predicted to maintain greater mean sprint velocity compared to quadrupedal running, thereby revealing a potential advantage of bipedalism. Lizards were filmed (300 fps) running through a racetrack with zero, one, or two obstacles. Bipedal running posture over one obstacle was significantly faster than quadrupedal posture. Bipedal running trials contained fewer total strides than quadrupedal ones. But as obstacle number increased, the number of bipedal strides decreased. Increasing obstacle number led to slower and more intermittent locomotion. Bipedalism provided clear advantages for one obstacle, but was not associated with further benefits on additional obstacles. Hence, bipedalism helps mitigate obstacle negotiation, but not when numerous obstacles are encountered in succession.

Introduction to the Symposium: Towards a General Framework for Predicting Animal Movement Speeds in Nature

Speed of movement is fundamental to animal behavior-defining the intensity of a task, the time needed to complete it, and the likelihood of success-but how does an animal decide how fast to move? Most studies of animal performance measure maximum capabilities, but animals rarely move at their maximum in the wild. It was the goal of our symposium to develop a conceptual framework to explore the choices of speed in nature. A major difference between our approach and previous work is our move toward understanding optimal rather than maximal speeds. In the following series of papers, we provide a starting point for future work on animal movement speeds, including a conceptual framework, a simple optimality model, an evolutionary context, and an exploration of the various biomechanical and energetic constraints on speed. By applying a cross-disciplinary approach to the study of the choice of speed-as we have done here-we can reveal much about the way animals use habitats, interact with conspecifics, avoid predators, obtain food, and negotiate human-modified landscapes.

Running faster causes disaster: trade-offs between speed, manoeuvrability and motor control when running around corners in northern quolls (Dasyurus hallucatus)

Movement speed is fundamental to all animal behaviour, yet no general framework exists for understanding why animals move at the speeds they do. Even during fitness-defining behaviours like running away from predators, an animal should select a speed that balances the benefits of high speed against the increased probability of mistakes. In this study, we explored this idea by quantifying trade-offs between speed, manoeuvrability and motor control in wild northern quolls (Dasyurus hallucatus) – a medium-sized carnivorous marsupial native to northern Australia. First, we quantified how running speed affected the probability of crashes when rounding corners of 45, 90 and 135 deg. We found that the faster an individual approached a turn, the higher the probability that they would crash, and these risks were greater when negotiating tighter turns. To avoid crashes, quolls modulated their running speed when they moved through turns of varying angles. Average speed for quolls when sprinting along a straight path was around 4.5 m s−1 but this decreased linearly to speeds of around 1.5 m s−1 when running through 135 deg turns. Finally, we explored how an individual's morphology affects their manoeuvrability. We found that individuals with larger relative foot sizes were more manoeuvrable than individuals with smaller relative foot sizes. Thus, movement speed, even during extreme situations like escaping predation, should be based on a compromise between high speed, manoeuvrability and motor control. We advocate that optimal – rather than maximal – performance capabilities underlie fitness-defining behaviours such as escaping predators and capturing prey.

Tail loss and narrow surfaces decrease locomotor stability in the arboreal green anole lizard (Anolis carolinensis)

Tails play an important role for dynamic stabilization during falling and jumping in lizards. Yet, tail autotomy (the voluntary loss of an appendage) is a common mechanism used for predator evasion among these animals. How tail autotomy impacts locomotor performance and stability remains poorly understood. The goal of this study was to determine how tail loss affects running kinematics and performance in the arboreal green anole lizard, Anolis carolinensis (Voigt, 1832). Lizards were run along four surface widths (9.5 mm, 15.9 mm, 19.0 mm, and flat), before and following 75% tail autotomy. Results indicate that when perturbed with changes in surface breadth and tail condition, surface breadth tends to have greater impacts on locomotor performance than does tail loss. Furthermore, while tail loss does have a destabilizing effect during regular running in these lizards, its function during steady locomotion is minimal. Instead, the tail likely plays a more active role during dynamic maneuvers that require dramatic changes in whole body orientation or center of mass trajectories.

Context-dependent changes in motor control and kinematics during locomotion: modulation and decoupling

Successful locomotion through complex, heterogeneous environments requires the muscles that power locomotion to function effectively under a wide variety of conditions. Although considerable data exist on how animals modulate both kinematics and motor pattern when confronted with orientation (i.e. incline) demands, little is known about the modulation of muscle function in response to changes in structural demands like substrate diameter, compliance and texture. Here, we used high-speed videography and electromyography to examine how substrate incline and perch diameter affected the kinematics and muscle function of both the forelimb and hindlimb in the green anole (Anolis carolinensis). Surprisingly, we found a decoupling of the modulation of kinematics and motor activity, with kinematics being more affected by perch diameter than by incline, and muscle function being more affected by incline than by perch diameter. Also, muscle activity was most stereotyped on the broad, vertical condition, suggesting that, despite being classified as a trunk-crown ecomorph, this species may prefer trunks. These data emphasize the complex interactions between the processes that underlie animal movement and the importance of examining muscle function when considering both the evolution of locomotion and the impacts of ecology on function.

Geometric morphometric analysis of the breast-shoulder apparatus of lizards: a test case using Jamaican anoles (Squamata: Dactyloidae)

The breast-shoulder apparatus (BSA) is a structurally and kinematically complex region of lizards. Compared with the pelvic region it has received little attention, even though its morphological variation is known to be extensive. This variability has seldom been the focus of functional explanation, possibly because the BSA has been difficult to explore as a composite entity. In this study we apply geometric morphometric techniques to the analysis of the BSA in an attempt to more fully understand its configuration in relation to differential use in locomotion. Our approach centers upon the Jamaican radiation of anoline lizards (genus Norops) as a tractable, small monophyletic assemblage consisting of species representing several ecomorphs. We hypothesized that the different species and ecomorphs would exhibit variation in the configuration of the BSA. Our findings indicate that this is so, and is expressed in the component parts of the BSA, although it is subtle except for Norops valencienni (twig ecomorph), which differs greatly in morphology (and behavior) from its island congeners. We further found similarities in the BSA of N. grahami, N. opalinus (both trunk-crown ecomorphs), and N. garmani (crown giant). These outcomes are promising for associating morphology with ecomorphological specialization and for furthering our understanding of the adaptive response of the BSA to demands on the locomotor system.

Influence of substrate orientation on feeding kinematics and performance of algae grazing Lake Malawi cichlid fishes

Lake Malawi cichlids have been studied extensively in an effort to elucidate the mechanisms underlying their adaptive radiation. Both habitat partitioning and trophic specialization have been suggested to be critical ecological axes underlying the exceptional diversification of these fishes, but the mechanisms facilitating this divergence are often unclear. For instance, in the rock-dwelling mbuna of Lake Malawi, coexistence is likely tightly linked to how and where species feed on the algae coating all the surfaces of the rocky reefs they exclusively inhabit. Yet, although mbuna species often preferentially graze from particular substrate orientations, we understand very little about how substrate orientation influences feeding kinematics or feeding rates in any group of organisms. Therefore, for three species of mbuna, we quantified feeding kinematics and inferred the rates that algae could be ingested on substrates that mimicked the top, sides, and bottoms of the algae covered boulders these species utilize in Lake Malawi. A number of differences in feeding kinematics were found among species, and several of the kinematic variables were found to differ even within species when the fish grazed from different surface orientations. However, despite their preferences for particular microhabitats, we found no evidence for clear tradeoffs in the rates that the three species were inferred to be able to obtain algae from different substrate orientations. Nevertheless, our results indicate microhabitat divergence linked to differences in feeding kinematics could have played a role in the origin and maintenance of the vast diversity of co-occurring Lake Malawi mbuna species.

Fictive rhythmic motor patterns produced by the tail spinal cord in salamanders

Most investigations into the role of the body axis in vertebrate locomotion have focused on the trunk, although in most tetrapods, the tail also plays an active role. In salamanders, the tail contributes to propulsion during swimming and to dynamic balance and maneuverability during terrestrial locomotion. The aim of the present study was to obtain information concerning the neural mechanisms that produce tail muscle contractions during locomotion in the salamander Pleurodeles waltlii. We recorded the ventral root activities in in vitro spinal cord preparations in which locomotor-like activity was induced via bath application of N-methyl-d-aspartate (20μM) and d-serine (10μM). Recordings showed that the tail spinal cord is capable of producing propagated waves of motor activity that alternate between the left and right sides. Lesion experiments further revealed that the tail rhythmogenic network is composed of a double chain of identical hemisegmental oscillators. Finally, using spinal cord preparations bathed in a chamber partitioned into two pools, we revealed efficient short-distance coupling between the trunk and tail networks. Together, our results demonstrate the existence of a pattern generator for rhythmic tail movements in the salamander and show that the global architecture of the tail network is similar to that previously proposed for the mid-trunk locomotor network in the salamander. Our findings further support the view that salamanders can control their trunk and tail independently during stepping movements. The relevance of our results in relation to the generation of tail muscle contractions in freely moving salamanders is discussed.

Forearm posture and mobility in quadrupedal dinosaurs

Quadrupedality evolved four independent times in dinosaurs; however, the constraints associated with these transitions in limb anatomy and function remain poorly understood, in particular the evolution of forearm posture and rotational ability (i.e., active pronation and supination). Results of previous qualitative studies are inconsistent, likely due to an inability to quantitatively assess the likelihood of their conclusions. We attempt to quantify antebrachial posture and mobility using the radius bone because its morphology is distinct between extant sprawled taxa with a limited active pronation ability and parasagittal taxa that have an enhanced ability to actively pronate the manus. We used a sliding semi-landmark, outline-based geometric morphometric approach of the proximal radial head and a measurement of the angle of curvature of the radius in a sample of 189 mammals, 49 dinosaurs, 35 squamates, 16 birds, and 5 crocodilians. Our results of radial head morphology showed that quadrupedal ceratopsians, bipedal non-hadrosaurid ornithopods, and theropods had limited pronation/supination ability, and sauropodomorphs have unique radial head morphology that likely allowed limited rotational ability. However, the curvature of the radius showed that no dinosaurian clade had the ability to cross the radius about the ulna, suggesting parallel antebrachial elements for all quadrupedal dinosaurs. We conclude that the bipedal origins of all quadrupedal dinosaur clades could have allowed for greater disparity in forelimb posture than previously appreciated, and future studies on dinosaur posture should not limit their classifications to the overly simplistic extant dichotomy.

How forelimb and hindlimb function changes with incline and perch diameter in the green anole, Anolis carolinensis

The range of inclines and perch diameters in arboreal habitats poses a number of functional challenges for locomotion. To effectively overcome these challenges, arboreal lizards execute complex locomotor behaviors involving both the forelimbs and the hindlimbs. However, few studies have examined the role of forelimbs in lizard locomotion. To characterize how the forelimbs and hindlimbs differentially respond to changes in substrate diameter and incline, we obtained three-dimensional high-speed video of green anoles (Anolis carolinensis) running on flat (9 cm wide) and narrow (1.3 cm) perches inclined at 0, 45 and 90 deg. Changes in perch diameter had a greater effect on kinematics than changes in incline, and proximal limb variables were primarily responsible for these kinematic changes. In addition, a number of joint angles exhibited greater excursions on the 45 deg incline compared with the other inclines. Anolis carolinensis adopted strategies to maintain stability similar to those of other arboreal vertebrates, increasing limb flexion, stride frequency and duty factor. However, the humerus and femur exhibited several opposite kinematic trends with changes in perch diameter. Further, the humerus exhibited a greater range of motion than the femur. A combination of anatomy and behavior resulted in differential kinematics between the forelimb and the hindlimb, and also a potential shift in the propulsive mechanism with changes in external demand. This suggests that a better understanding of single limb function comes from an assessment of both forelimbs and hindlimbs. Characterizing forelimb and hindlimb movements may reveal interesting functional differences between Anolis ecomorphs. Investigations into the physiological mechanisms underlying the functional differences between the forelimb and the hindlimb are needed to fully understand how arboreal animals move in complex habitats.

Rapid inversion: running animals and robots swing like a pendulum under ledges

Escaping from predators often demands that animals rapidly negotiate complex environments. The smallest animals attain relatively fast speeds with high frequency leg cycling, wing flapping or body undulations, but absolute speeds are slow compared to larger animals. Instead, small animals benefit from the advantages of enhanced maneuverability in part due to scaling. Here, we report a novel behavior in small, legged runners that may facilitate their escape by disappearance from predators. We video recorded cockroaches and geckos rapidly running up an incline toward a ledge, digitized their motion and created a simple model to generalize the behavior. Both species ran rapidly at 12–15 body lengths-per-second toward the ledge without braking, dove off the ledge, attached their feet by claws like a grappling hook, and used a pendulum-like motion that can exceed one meter-per-second to swing around to an inverted position under the ledge, out of sight. We discovered geckos in Southeast Asia can execute this escape behavior in the field. Quantification of these acrobatic behaviors provides biological inspiration toward the design of small, highly mobile search-and-rescue robots that can assist us during natural and human-made disasters. We report the first steps toward this new capability in a small, hexapedal robot.

Performance and three-dimensional kinematics of bipedal lizards during obstacle negotiation

Bipedal running is common among lizard species, but although the kinematics and performance of this gait have been well characterized, the advantages in biologically relevant situations are still unclear. Obstacle negotiation is a task that is ecologically relevant to many animals while moving at high speeds, such as during bipedal running, yet little is known about how obstacles impact locomotion and performance. We examined the effects of obstacle negotiation on the kinematics and performance of lizards during bipedal locomotion. We quantified three-dimensional kinematics from high-speed video (500 Hz) of six-lined racerunners (Aspidoscelis sexlineata) running on a 3 m racetrack both with and without an obstacle spanning the width of the track. The lizards did not alter their kinematics prior to contacting the obstacle. Although contact with the obstacle caused changes to the hindlimb kinematics, mean forward speed did not differ between treatments. The deviation of the vertical position of the body center of mass did not differ between treatments, suggesting that in the absence of a cost to overall performance, lizards forgo maintaining normal kinematics while negotiating obstacles in favor of a steady body center of mass height to avoid destabilizing locomotion.

Evolution of sexual dimorphism in the digit ratio 2D:4D--relationships with body size and microhabitat use in iguanian lizards

The ratio between lengths of digit II and IV (digit ratio 2D:4D) is a morphological feature that likely affects tetrapod locomotor performances in different microhabitats. Modifications of this trait may be triggered by changes in steroids concentrations during embryo development, which might reflect direct selection acting on digit ratio or be solely a consequence of hormonal differences related for example to body size. Here we apply both conventional and phylogenetic analyses on morphological data from 25 lizard species of 3 families of Iguania (Iguanidae, Polychrotidae, and Tropiduridae), in order to verify whether selective pressures related to locomotion in different microhabitats could override the prenatal developmental cues imposed on the digit ratio 2D:4D by differences in body size between males and females. Data suggest that this trait evolved in association with ecological divergence in the species studied, despite the clear effect of body size on the digit ratio 2D:4D. The ecological associations of size-corrected digit ratios were restricted to one sex, and females of species that often use perches exhibited small digit ratios in the front limbs, which translated into larger sexual dimorphism indexes of arboreal species. The results, together with the subsequent discussion, provide outlines for further investigation about possible developmental mechanisms related to the evolution of adaptive changes in digit lengths that may have occurred during the evolution of ecological divergence in squamates.

Slipping, sliding and stability: locomotor strategies for overcoming low-friction surfaces

Legged terrestrial animals must avoid falling while negotiating unexpected perturbations inherent to their structurally complex environments. Among humans, fatal and nonfatal injuries frequently result from slip-induced falls precipitated by sudden unexpected encounters with low-friction surfaces. Although studies using walking human models have identified some causes of falls and mechanisms underlying slip prevention, it is unclear whether these apply to various locomotor speeds and other species. We used high-speed video and inverse dynamics to investigate the locomotor biomechanics of helmeted guinea fowl traversing slippery surfaces at variable running speeds (1.3-3.6 m s(-1)). Falls were circumvented when limb contact angles exceeded 70 deg, though lower angles were tolerated at faster running speeds (>3.0 m s(-1)). These prerequisites permitted a forward shift of the body's center of mass over the limb's base of support, which kept slip distances below 10 cm (the threshold distance for falls) and maximized the vertical ground reaction forces, thus facilitating limb retraction and the conclusion of the stance phase. These postural control strategies for slip avoidance parallel those in humans, demonstrating the applicability of these strategies across locomotor gaits and the potential for guinea fowl as an insightful model for invasive approaches to understanding limb neuromuscular control on slippery surfaces.

Evolution of extreme body size disparity in monitor lizards (Varanus)

Many features of species' biology, including life history, physiology, morphology, and ecology are tightly linked to body size. Investigation into the causes of size divergence is therefore critical to understanding the factors shaping phenotypic diversity within clades. In this study, we examined size evolution in monitor lizards (Varanus), a clade that includes the largest extant lizard species, the Komodo dragon (V. komodoensis), as well as diminutive species that are nearly four orders of magnitude smaller in adult body mass. We demonstrate that the remarkable body size disparity of this clade is a consequence of different selective demands imposed by three major habitat use patterns-arboreality, terrestriality, and rock-dwelling. We reconstructed phylogenetic relationships and ancestral habitat use and applied model selection to determine that the best-fitting evolutionary models for species' adult size are those that infer oppositely directed adaptive evolution associated with terrestriality and rock-dwelling, with terrestrial lineages evolving extremely large size and rock-dwellers becoming very small. We also show that habitat use affects the evolution of several ecologically important morphological traits independently of body size divergence. These results suggest that habitat use exerts a strong, multidimensional influence on the evolution of morphological size and shape disparity in monitor lizards.

How muscles define maximum running performance in lizards: an analysis using swing- and stance-phase muscles

Maximum locomotor performance is crucial for capturing prey, escaping predators and many other behaviors. However, we know little about what defines maximum performance in vertebrates. Muscles drive the movement of the limbs during locomotion, and thus likely play a major role in defining locomotor capacity. For lizards, the iliofibularis, a swing-phase muscle, is often linked to ecology and/or performance. However, stance-phase muscles likely limit performance given that they propel the animal. Using a small semi-arboreal lizard (Sceloporus woodi), we compared how swing- and stance-phase muscles relate to maximum running speed and acceleration. We employed both a level and vertical trackway to elicit ecologically relevant locomotor performance. Six individuals were filmed at 250 frames s–1 in lateral view. Following performance trials, upper and lower hindlimbs were sectioned and assessed using histochemistry. Fast glycolytic, fast oxidative and slow oxidative fibers were detected and counted in the gastrocnemius (GA; stance phase) and iliofibularis (IF; swing phase) muscles. In addition, the mean fiber diameter for each fiber type in each muscle was determined, as was the fiber cross-sectional area. We found that properties of the GA, but not the IF, were positively correlated with performance. Interestingly, certain attributes of the GA were correlated with maximum vertical locomotion whereas others were correlated with maximum level locomotion. We conclude that stance phase, not swing phase, limits maximum performance in this species of lizard. In addition, we highlight the need to include properties of stance-phase muscles and a spectrum of ecologically relevant behaviors when attempting to correlate locomotor physiology with ecology and/or performance.

Righting and turning in mid-air using appendage inertia: reptile tails, analytical models and bio-inspired robots

Unlike the falling cat, lizards can right themselves in mid-air by a swing of their large tails in one direction causing the body to rotate in the other. Here, we developed a new three-dimensional analytical model to investigate the effectiveness of tails as inertial appendages that change body orientation. We anchored our model using the morphological parameters of the flat-tailed house gecko Hemidactylus platyurus. The degree of roll in air righting and the amount of yaw in mid-air turning directly measured in house geckos matched the model's results. Our model predicted an increase in body roll and turning as tails increase in length relative to the body. Tails that swung from a near orthogonal plane relative to the body (i.e. 0-30° from vertical) were the most effective at generating body roll, whereas tails operating at steeper angles (i.e. 45-60°) produced only half the rotation. To further test our analytical model's predictions, we built a bio-inspired robot prototype. The robot reinforced how effective attitude control can be attained with simple movements of an inertial appendage.

Morphological evolution in Tropidurinae squamates: an integrated view along a continuum of ecological settings

Variation in squamate foot morphology is likely relevant during evolutionary processes of habitat colonization because distinct surfaces differ in energetic and functional demands for locomotion. We combined new foot morphological data with published information of limb and tail lengths to investigate evolutionary changes possibly associated with the differential usage of ecological settings by Tropidurinae species. Several traits exhibited significant phylogenetic signal, and we performed conventional and phylogenetic regressions of PC scores (retained from Principal Components Analyses of morphometric traits) on continuous ecological indices. Tropidurines from sandy habitats exhibit larger foot soles, opposite to the evolution of narrow feet in species that use branches and rocks. Also, species that usually move along trunks present longer femora. This study provides evidence for morphological adaptations associated with substrate usage in Tropidurinae, and suggests that opposite morphological profiles might evolve associated with the use of surfaces energetically and functionally contrasting, possibly leading to trade-offs.

A new angle on clinging in geckos: incline, not substrate, triggers the deployment of the adhesive system

Lizards commonly climb in complex three-dimensional habitats, and gekkotans are particularly adept at doing this by using an intricate adhesive system involving setae on the ventral surface of their digits. However, it is not clear whether geckos always deploy their adhesive system, given that doing so may result in decreased (i.e. reduction in speed) locomotor performance. Here, we investigate circumstances under which the adhesive apparatus of clinging geckos becomes operative, and examine the potential trade-offs between speed and clinging. We quantify locomotor kinematics of a gecko with adhesive capabilities (Tarentola mauritanica) and one without (Eublepharis macularius). Whereas, somewhat unusually, E. macularius did not suffer a decrease in locomotor performance with an increase in incline, T. mauritanica exhibited a significant decrease in speed between the level and a 10 degrees incline. We demonstrate that this results from the combined influence of slope and the deployment of the adhesive system. All individuals kept their digits hyperextended on the level, but three of the six individuals deployed their adhesive system on the 10 degrees incline, and they exhibited the greatest decrease in velocity. The deployment of the adhesive system was dependent on incline, not surface texture (600 grit sandpaper and Plexiglas), despite slippage occurring on the level Plexiglas substrate. Our results highlight the type of sensory feedback (gravity) necessary for deployment of the adhesive system, and the trade-offs associated with adhesion.

Losing stability: tail loss and jumping in the arboreal lizardAnolis carolinensis

Voluntary loss of an appendage, or autotomy, is a remarkable behavior that is widespread among many arthropods and lower vertebrates. Its immediate benefit, generally escape from a predator, is balanced by various costs,including impaired locomotor performance, reproductive success and long-term survival. Among vertebrates, autotomy is most widespread in lizards, in which tail loss has been documented in close to 100 species. Despite numerous studies of the potential costs of tail autotomy in lizards, none have focused on the importance of the tail in jumping. Using high-speed video we recorded jumps from six lizards (Anolis carolinensis) both before and after removing 80% of the tail to test the hypothesis that tail loss has a significant effect on jumping kinematics. Several key performance metrics, including jump distance and takeoff velocity, were not affected by experimental tail removal,averaging 21 cm and 124 cm s–1, respectively, in both tailed and tailless lizards. However, in-air stability during jumping was greatly compromised after tail removal. Lizards without tails rotated posteriorly more than 30 deg., on average, between takeoff and landing (and sometimes more than 90 deg.) compared with an average of 5 deg. of rotation in lizards with intact tails. Such exaggerated posterior rotation prevents coordinated landing, which is critical for animals that spend much of their time jumping to and from small branches. This work augments recent experiments demonstrating the importance of the tail as a mid-air stabilizer during falling in geckos, and emphasizes new and severe functional costs associated with tail autotomy in arboreal lizards.

Active tails enhance arboreal acrobatics in geckos

Geckos are nature's elite climbers. Their remarkable climbing feats have been attributed to specialized feet with hairy toes that uncurl and peel in milliseconds. Here, we report that the secret to the gecko's arboreal acrobatics includes an active tail. We examine the tail's role during rapid climbing, aerial descent, and gliding. We show that a gecko's tail functions as an emergency fifth leg to prevent falling during rapid climbing. A response initiated by slipping causes the tail tip to push against the vertical surface, thereby preventing pitch-back of the head and upper body. When pitch-back cannot be prevented, geckos avoid falling by placing their tail in a posture similar to a bicycle's kickstand. Should a gecko fall with its back to the ground, a swing of its tail induces the most rapid, zero-angular momentum air-righting response yet measured. Once righted to a sprawled gliding posture, circular tail movements control yaw and pitch as the gecko descends. Our results suggest that large, active tails can function as effective control appendages. These results have provided biological inspiration for the design of an active tail on a climbing robot, and we anticipate their use in small, unmanned gliding vehicles and multisegment spacecraft.