|
| |
|
|
|
|
||||
| Home Help Feedback Subscriptions Archive Search Table of Contents | ||||
Journal of Experimental Biology, Vol 156, Issue 1 215-231, Copyright © 1991 by Company of Biologists
JOURNAL ARTICLES |
RJ Full and MS Tu
Department of Integrative Biology, University of California, Berkeley 94720.
To examine the effects of variation in body form on the mechanics of terrestrial locomotion, we used a miniature force platform to measure the ground reaction forces of the smallest and, relative to its mass, one of the fastest invertebrates ever studied, the American cockroach Periplaneta americana (mass = 0.83 g). From 0.44-1.0 ms-1, P. americana used an alternating tripod stepping pattern. Fluctuations in gravitational potential energy and horizontal kinetic energy of the center of mass were nearly in phase, characteristic of a running or bouncing gait. Aerial phases were observed as vertical ground reaction force approached zero at speeds above 1 ms-1. At the highest speeds (1.0-1.5 ms-1 or 50 body lengths per second), P. americana switched to quadrupedal and bipedal running. Stride frequency approached the wing beat frequencies used during flight (27 Hz). High speeds were attained by increasing stride length, whereas stride frequency showed little increase with speed. The mechanical power used to accelerate the center of mass increased curvilinearly with speed. The mass-specific mechanical energy used to move the center of mass a given distance was similar to that measured for animals five orders of magnitude larger in mass, but was only one-hundredth of the metabolic cost.
This article has been cited by other articles:
|
|
 |
|
  R. Balasubramanian, A. A. Rizzi, and M. T. Mason Legless Locomotion: A Novel Locomotion Technique for Legged Robots The International Journal of Robotics Research, May 1, 2008; 27(5): 575 - 594. [Abstract] [PDF]
|
|
|
|
 |
|
 E. Fontaine, D. Lentink, S. Kranenbarg, U. K. Muller, J. L. van Leeuwen, A. H. Barr, and J. W. Burdick Automated visual tracking for studying the ontogeny of zebrafish swimming J. Exp. Biol., April 15, 2008; 211(8): 1305 - 1316. [Abstract] [Full Text] [PDF]
|
|
|
|
|
|
E. J. McElroy, K. L. Hickey, and S. M. Reilly The correlated evolution of biomechanics, gait and foraging mode in lizards J. Exp. Biol., April 1, 2008; 211(7): 1029 - 1040. [Abstract] [Full Text] [PDF]
|
|
|
|
|
|
D. M. Dudek and R. J. Full An isolated insect leg's passive recovery from dorso-ventral perturbations J. Exp. Biol., September 15, 2007; 210(18): 3209 - 3217. [Abstract] [Full Text] [PDF]
|
|
|
|
|
|
R. P. Main and A. A. Biewener Skeletal strain patterns and growth in the emu hindlimb during ontogeny J. Exp. Biol., August 1, 2007; 210(15): 2676 - 2690. [Abstract] [Full Text] [PDF]
|
|
|
|
 |
|
 B. Trimmer and J. Issberner Kinematics of Soft-bodied, Legged Locomotion in Manduca sexta Larvae Biol. Bull., April 1, 2007; 212(2): 130 - 142. [Abstract] [Full Text] [PDF]
|
|
|
|
|
|
Y.-H. Chang and R. Kram Limitations to maximum running speed on flat curves J. Exp. Biol., March 15, 2007; 210(6): 971 - 982. [Abstract] [Full Text] [PDF]
|
|
|
|
|
|
M. Wittlinger, R. Wehner, and H. Wolf The desert ant odometer: a stride integrator that accounts for stride length and walking speed J. Exp. Biol., January 15, 2007; 210(2): 198 - 207. [Abstract] [Full Text] [PDF]
|
|
|
|
|
|
N. J. Cowan, J. Lee, and R. J. Full Task-level control of rapid wall following in the American cockroach J. Exp. Biol., May 1, 2006; 209(9): 1617 - 1629. [Abstract] [Full Text] [PDF]
|
|
|
|
|
|
D. M. Dudek and R. J. Full Passive mechanical properties of legs from running insects J. Exp. Biol., April 15, 2006; 209(8): 1502 - 1515. [Abstract] [Full Text] [PDF]
|
|
|
|
|
|
A. Bejan and J. H. Marden Unifying constructal theory for scale effects in running, swimming and flying J. Exp. Biol., January 15, 2006; 209(2): 238 - 248. [Abstract] [Full Text] [PDF]
|
|
|
|
|
|
J. J. Chen, A. M. Peattie, K. Autumn, and R. J. Full Differential leg function in a sprawled-posture quadrupedal trotter J. Exp. Biol., January 15, 2006; 209(2): 249 - 259. [Abstract] [Full Text] [PDF]
|
|
|
|
|
|
K. Autumn, S. T. Hsieh, D. M. Dudek, J. Chen, C. Chitaphan, and R. J. Full Dynamics of geckos running vertically J. Exp. Biol., January 15, 2006; 209(2): 260 - 272. [Abstract] [Full Text] [PDF]
|
|
|
|
|
|
R. M. Alexander Models and the scaling of energy costs for locomotion J. Exp. Biol., May 1, 2005; 208(9): 1645 - 1652. [Abstract] [Full Text] [PDF]
|
|
|
|
 |
|
 S. T. Hsieh and G. V. Lauder Running on water: Three-dimensional force generation by basilisk lizards PNAS, November 30, 2004; 101(48): 16784 - 16788. [Abstract] [Full Text] [PDF]
|
|
|
|
|
|
T. M. Griffin, R. Kram, S. J. Wickler, and D. F. Hoyt Biomechanical and energetic determinants of the walk-trot transition in horses J. Exp. Biol., November 15, 2004; 207(24): 4215 - 4223. [Abstract] [Full Text] [PDF]
|
|
|
|
|
|
A. N. Ahn, E. Furrow, and A. A. Biewener Walking and running in the red-legged running frog, Kassina maculata J. Exp. Biol., February 1, 2004; 207(3): 399 - 410. [Abstract] [Full Text] [PDF]
|
|
|
|
|
|
A. T. Sensenig and J. W. Shultz Mechanics of cuticular elastic energy storage in leg joints lacking extensor muscles in arachnids J. Exp. Biol., February 15, 2003; 206(4): 771 - 784. [Abstract] [Full Text] [PDF]
|
|
|
|
|
|
D. L. Jindrich and R. J. Full Dynamic stabilization of rapid hexapedal locomotion J. Exp. Biol., September 15, 2002; 205(18): 2803 - 2823. [Abstract] [Full Text] [PDF]
|
|
|
|
 |
|
 R. J. Full, T. Kubow, J. Schmitt, P. Holmes, and D. Koditschek Quantifying Dynamic Stability and Maneuverability in Legged Locomotion Integr. Comp. Biol., February 1, 2002; 42(1): 149 - 157. [Abstract] [Full Text] [PDF]
|
|
|
|
 |
|
 M. H. Dickinson, C. T. Farley, R. J. Full, M. A. Koehl, R. Kram, and S. Lehman How Animals Move: An Integrative View Science, April 7, 2000; 288(5463): 100 - 106. [Abstract] [Full Text]
|
|
|
|
 |
|
 A. L. Ridgel, S. F. Frazier, R. A. Dicaprio, and S. N. Zill Active Signaling of Leg Loading and Unloading in the Cockroach J Neurophysiol, March 1, 1999; 81(3): 1432 - 1437. [Abstract] [Full Text] [PDF]
|
|
|
|
|
|
R. Full and D. Koditschek Templates and anchors: neuromechanical hypotheses of legged locomotion on land J. Exp. Biol., January 12, 1999; 202(23): 3325 - 3332. [Abstract] [PDF]
|
|
|
|
|
|
D. Jindrich and R. Full Many-legged maneuverability: dynamics of turning in hexapods J. Exp. Biol., January 6, 1999; 202(12): 1603 - 1623. [Abstract]
|
|
