Dynamics of locomotion in the seed harvesting ant Messor barbarus: effect of individual body mass and transported load mass

Foraging trail traffic rules: a new study method of trajectories of the harvester ants

Harvester ants are one of the most extensively studied groups of ants, especially the group foraging ants, Messor barbarus (Linnaeus, 1767), which construct long-lasting trunk trails. Limited laboratory investigations have delved into head-on encounters along foraging trails involving workers moving in opposing directions, with fewer corresponding studies conducted in the natural environment. To address this gap, we devised an in-field experimental design to induce lane segregation on the foraging trunk trail of M. barbarus. Using an image-based tracking method, we analyzed the foraging behavior of this species to assess the costs associated with head-on encounters and to figure out the natural coexistence of outgoing and returning workers on a bidirectional route. Our results consistently reveal heightened straightness and speed in unidirectional test lanes, accompanied by an elevated foraging rate compared to bidirectional lanes. This suggests a potential impact of head-on collisions on foraging behavior, especially on foraging efficiency. Additionally, Kinematic analysis revealed distinct movement patterns between outbound and inbound flows, particularly low speed and sinuous trajectories of inbounding unladen workers. The study of encounter rates in two traffic systems hints at the plausible utilization of individual memory by workers within trails, underscoring the pivotal role of encounters in information exchange and load transfer.

Walking kinematics of ants carrying food in the mandibles versus gaster

The locomotor behavior of an animal strongly depends on the distribution of its body mass. Whenever changes occur in this distribution, the displacement of the body center of mass (CoM) may lead to a loss of balance. Ants are an interesting biological model with which to investigate how an animal copes with such changes because, when they transport food, their CoM may be displaced from its usual position. We studied the ant Formica rufa, whose diet consists mainly of liquid food, stored in the abdomen, but also includes prey transported in the mandibles. We investigated the kinematics of locomotion of the same individuals while walking unloaded and while transporting food internally or externally. We found that the kinematics of locomotion slightly differed in the two types of transport. Ants transporting food in their mandibles adopted a more erect posture and tended to be more often in static instability than ants transporting food internally. In addition, the amplitude of the vertical oscillations of their CoM was higher, which led to a jerky locomotion. However, owing to their erect position, the position of their overall CoM was actually not different from that of unloaded ants. Finally, the mechanical work achieved by ants to rise and accelerate their CoM was smaller in ants transporting food internally than in ants transporting food externally or in unloaded ants. This suggests that the morphology of F. rufa could make the transport of food in the gaster more mechanically efficient than the transport of food in the mandibles.

Locomotory Behavior of Water Striders with Amputated Legs

The stability of the body during locomotion is a fundamental requirement for walking animals. The mechanisms that coordinate leg movement patterns are even more complex at water-air interfaces. Water striders are agile creatures on the water surface, but they can be vulnerable to leg damage, which can impair their movement. One can assume the presence of certain compensatory biomechanical factors that are involved in the maintenance of postural balance lost after an amputation. Here, we studied changes in load distribution among the legs and assessed the effects of amputation on the locomotory behavior and postural defects that may increase the risk of locomotion failure. Apparently, amputees recover a stable posture by applying leg position modifications (e.g., widening the stance) and by load redistribution to the remaining legs. Water striders showed steering failure after amputation in all cases. Amputations affected locomotion by (1) altering motion features (e.g., shorter swing duration of midlegs), (2) functional constraints on legs, (3) shorter travelled distances, and (4) stronger deviations in the locomotion path. The legs functionally interact with each other, and removal of one leg has detrimental effects on the others. This research may assist the bioinspired design of aquatic robots.

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

Panarthropods (a clade containing arthropods, tardigrades and onychophorans) can adeptly move across a wide range of challenging terrains and their ability to do so given their relatively simple nervous systems makes them compelling study organisms. Studies of forward walking on flat terrain excitingly point to key features in inter-leg coordination patterns that seem to be 'universally' shared across panarthropods. However, when movement through more complex, naturalistic terrain is considered, variability in coordination patterns - from the intra-individual to inter-species level - becomes more apparent. This variability is likely to be due to the interplay between sensory feedback and local pattern-generating activity, and depends crucially on species, walking speed and behavioral goal. Here, I gather data from the literature of panarthropod walking coordination on both flat ground and across more complex terrain. This Review aims to emphasize the value of: (1) designing experiments with an eye towards studying organisms in natural environments; (2) thoughtfully integrating results from various experimental techniques, such as neurophysiological and biomechanical studies; and (3) ensuring that data is collected and made available from a wider range of species for future comparative analyses.

Influence of caste and subcaste characteristics in ant locomotion (Camponotus fellah)

Worker polymorphism in ants has evolved repeatedly, with considerable differences in the morphometry of worker subcastes. Such body size differences and especially caste- and subcaste-specific characteristics might significantly influence locomotion. Therefore, we performed a comprehensive locomotion analysis along gradients in both body size and walking speed of Camponotus fellah worker subcastes, and of males, which have rarely been studied to date due to short life spans associated with mating flights. We provide a detailed description of the morphometry and size differences of C. fellah castes and subcastes and analyse locomotion in the different polymorphic groups in terms of absolute and relative walking speeds (mesosoma lengths per second). Our results reveal that body size and shape affect locomotion behaviour to different extents in the worker subcastes (minor workers, medias, major workers) and in males. Nevertheless, C. fellah ants use the same overall locomotion strategy, with males and major workers reaching considerably lower walking speeds than minors and medias. Body size thus mainly affects walking speed. Minor workers reach the highest relative velocities by high relative stride lengths in combination with large vertical and lateral COM oscillations and clearly higher stride frequencies of up to 25 Hz. Locomotion of males was characterised by clearly lower walking speeds, wider footprint positions, significant phase shifts and a notable dragging of the shorter hind legs. However, general walking parameters of males differed less from those of the female workers than expected due to division of labour in the colony.

Kinematic Modeling at the Ant Scale: Propagation of Model Parameter Uncertainties

Quadrupeds and hexapods are known by their ability to adapt their locomotive patterns to their functions in the environment. Computational modeling of animal movement can help to better understand the emergence of locomotive patterns and their body dynamics. Although considerable progress has been made in this subject in recent years, the strengths and limitations of kinematic simulations at the scale of small moving animals are not well understood. In response to this, this work evaluated the effects of modeling uncertainties on kinematic simulations at small scale. In order to do so, a multibody model of a Messor barbarus ant was developed. The model was built from 3D scans coming from X-ray micro-computed tomography. Joint geometrical parameters were estimated from the articular surfaces of the exoskeleton. Kinematic data of a free walking ant was acquired using high-speed synchronized video cameras. Spatial coordinates of 49 virtual markers were used to run inverse kinematics simulations using the OpenSim software. The sensitivity of the model’s predictions to joint geometrical parameters and marker position uncertainties was evaluated by means of two Monte Carlo simulations. The developed model was four times more sensitive to perturbations on marker position than those of the joint geometrical parameters. These results are of interest for locomotion studies of small quadrupeds, octopods, and other multi-legged animals.

Universal Features in Panarthropod Inter-Limb Coordination during Forward Walking

Terrestrial animals must often negotiate heterogeneous, varying environments. Accordingly, their locomotive strategies must adapt to a wide range of terrain, as well as to a range of speeds to accomplish different behavioral goals. Studies in Drosophila have found that inter-leg coordination patterns (ICPs) vary smoothly with walking speed, rather than switching between distinct gaits as in vertebrates (e.g., horses transitioning between trotting and galloping). Such a continuum of stepping patterns implies that separate neural controllers are not necessary for each observed ICP. Furthermore, the spectrum of Drosophila stepping patterns includes all canonical coordination patterns observed during forward walking in insects. This raises the exciting possibility that the controller in Drosophila is common to all insects, and perhaps more generally to panarthropod walkers. Here, we survey and collate data on leg kinematics and inter-leg coordination relationships during forward walking in a range of arthropod species, as well as include data from a recent behavioral investigation into the tardigrade Hypsibius exemplaris. Using this comparative dataset, we point to several functional and morphological features that are shared among panarthropods. The goal of the framework presented in this review is to emphasize the importance of comparative functional and morphological analyses in understanding the origins and diversification of walking in Panarthropoda. Introduction.