Flexible locomotion in complex environments: the influence of species, speed and sensory feedback on panarthropod inter-leg coordination

Robustness to Leg Loss in Opiliones: A Review and Framework Considerations for Future Research

Animals have evolved behavioral and morphological traits that allow them to respond to environmental challenges. However, these traits may have long-term consequences that could impact an animal's performance, fitness, and welfare. Several species in a group of the arachnid order of Opiliones release their legs voluntarily to escape predators. These animals use their legs for locomotion, sensation, and reproduction. Here, we first compile data across species in the suborder Eupnoi, showing that more than half of individuals are found missing legs. Then, we review recent work on the ultimate and proximate implications of leg loss in Opiliones. Field and laboratory experiments showed that leg loss (a) did not affect their survival or mating success and (b) compromised the kinematics and energetics of locomotion, but individuals recovered velocity and acceleration quickly. These findings demonstrate that these animals display robustness, that is, the ability to withstand and overcome the potential consequences of bodily damage. This may explain why leg loss is so prevalent in Opiliones. Additionally, we encourage researchers to consider expanding their hypotheses beyond traditional adaptationist and ableist lenses and incorporate a comprehensive examination of animal welfare when studying animals' responses to bodily damage. Finally, we highlight avenues for future research in Opiliones, namely assessing how individuals move in three-dimensional environments, the neural plasticity aiding recovery post-leg loss, applications for bio-inspired design, and evidence-based animal welfare measures.

Natural variability and individuality of walking behavior in Drosophila

Insects use walking behavior in a large number of contexts, such as exploration, foraging, escape and pursuit, or migration. A lot is known about how nervous systems produce this behavior in general and also how certain parameters vary with regard to walking direction or speed, for instance. An aspect that has not received much attention is whether and how walking behavior varies across individuals of a particular species. To address this, we created a large corpus of kinematic walking data of many individuals of the fruit fly Drosophila. We only selected instances of straight walking in a narrow range of walking speeds to minimize the influence of high-level parameters, such as turning and walking speed, aiming to uncover more subtle aspects of variability. Using high-speed videography and automated annotation, we captured the positions of the six leg tips for thousands of steps and used principal components analysis to characterize the postural space individuals used during walking. Our analysis shows that the largest part of walking kinematics can be described by five principal components (PCs). Separation of these five PCs into a 2D and a 3D subspace divided the description of walking behavior into invariant features shared across individuals and features that relate to the specifics of individuals; the latter features can be regarded as idiosyncrasies. We also demonstrate that this approach can detect the effects of experimental interventions in an unbiased manner and that general aspects of individuality, such as the individual walking posture, can be described.

Kinematics and coordination of moth flies walking on smooth and rough surfaces

The moth fly, Clogmia albipunctata, is a common synanthropic insect with a worldwide range that lives in nearly any area with moist, decaying organic matter. These habitats comprise both smooth, slippery substrates (e.g., bathroom drains) and heterogeneous, bumpy ground (e.g., soil in plant pots). By using terrain of varying levels of roughness, we focus specifically on how substrate roughness at the approximate size scale of the organism affects kinematics and coordination in adult moth flies. Finally, we compare and contrast our characterizations of locomotion in C. albipunctata with previous work of insect walking in naturalistic environments.

Integration of feedforward and feedback control in the neuromechanics of vertebrate locomotion: a review of experimental, simulation and robotic studies

Animal locomotion is the result of complex and multi-layered interactions between the nervous system, the musculo-skeletal system and the environment. Decoding the underlying mechanisms requires an integrative approach. Comparative experimental biology has allowed researchers to study the underlying components and some of their interactions across diverse animals. These studies have shown that locomotor neural circuits are distributed in the spinal cord, the midbrain and higher brain regions in vertebrates. The spinal cord plays a key role in locomotor control because it contains central pattern generators (CPGs) - systems of coupled neuronal oscillators that provide coordinated rhythmic control of muscle activation that can be viewed as feedforward controllers - and multiple reflex loops that provide feedback mechanisms. These circuits are activated and modulated by descending pathways from the brain. The relative contributions of CPGs, feedback loops and descending modulation, and how these vary between species and locomotor conditions, remain poorly understood. Robots and neuromechanical simulations can complement experimental approaches by testing specific hypotheses and performing what-if scenarios. This Review will give an overview of key knowledge gained from comparative vertebrate experiments, and insights obtained from neuromechanical simulations and robotic approaches. We suggest that the roles of CPGs, feedback loops and descending modulation vary among animals depending on body size, intrinsic mechanical stability, time required to reach locomotor maturity and speed effects. We also hypothesize that distal joints rely more on feedback control compared with proximal joints. Finally, we highlight important opportunities to address fundamental biological questions through continued collaboration between experimentalists and engineers.