Stereotypic leg searching movements in the stick insect: kinematic analysis, behavioural context and simulation.
نویسنده
چکیده
Insects are capable of efficient locomotion in a spatially complex environment, such as walking on a forest floor or climbing in a bush. One behavioural mechanism underlying such adaptability is the searching movement that occurs after loss of ground contact. Here, the kinematic sequence of leg searching movements of the stick insect Carausius morosus is analysed. Searching movements are shown to be stereotypic rhythmic movement sequences consisting of several loops. The typical loop structure allows the mean tarsus trajectory to be calculated using a feature-based averaging procedure. Thus, it is possible to describe the common underlying structure of this movement pattern. Phase relationships between joint angles, analysed for searching front legs, indicate a central role for the thorax-coxa joint in searching movements. Accordingly, the stereotyped loop structure of searching differs between front-, middle- and hindlegs, with leg-specific patterns being caused by differing protraction/retraction movements in the thorax-coxa joint. A simple artificial neural network that had originally been devised to generate simple swing movements allows two essential features of empirical searching trajectories to be simulated: (i) cyclic movements and (ii) the smooth transition into a search trajectory as a non-terminated swing movement. It is possible to generate several loops of a middle-leg search, but the precise size and shape of the loops fall short of a real-life approximation. Incorporation of front-leg retraction or hind-leg protraction during searching will also require an extension to the current model. Finally, front-leg searching occurs simultaneously with antennal movements. Also, because leg searching movements are a local behaviour, the legs remaining on the ground continue their stance phase, causing a forward shift of the body, including the searching leg. As a result of this shift, the centre of the searched space is close to the anterior extreme position of the tarsus during walking, representing the location of most likely ground contact according to past experience. Therefore, the behavioural relevance of searching movements arises from the combined actions of several limbs.
منابع مشابه
Decentralised compliant control for hexapod robots : a stick insect based walking model
This thesis aims to transfer knowledge from insect biology into a hexapod walking robot. The similarity of the robot model to the biological target allows the testing of hypotheses regarding control and behavioural strategies in the insect. Therefore, this thesis supports biorobotic research by demonstrating that robotic implementations are improved by using biological strategies and these mode...
متن کاملThe behavioural transition from straight to curve walking: kinetics of leg movement parameters and the initiation of turning.
The control of locomotion requires the ability to adapt movement sequences to the behavioural context of the animal. In hexapod walking, adaptive behavioural transitions require orchestration of at least 18 leg joints and twice as many muscle groups. Although kinematics of locomotion has been studied in several arthropod species and in a range of different behaviours, almost nothing is known ab...
متن کاملPattern generation for walking and searching movements of a stick insect leg. I. Coordination of motor activity.
During walking, the six legs of a stick insect can be coordinated in different temporal sequences or gaits. Leg coordination in each gait is controlled and stabilized by coordinating mechanisms that affect the action of the segmental neuronal networks for walking pattern generation. At present, the motor program for single walking legs in the absence of movement-related coordinating intersegmen...
متن کاملPattern generation for walking and searching movements of a stick insect leg. II. Control of motoneuronal activity.
In the stick insect, Cuniculina impigra, intracellular recordings from mesothoracic motoneurons that control flexion and extension of the tibia and depression and levation of the trochantero-femur were made while the leg performed walking-like movements on a treadband or stereotyped rhythmic searching movements. We were interested in how synaptic input and intrinsic properties contribute to for...
متن کاملMotoneuronal Activity Movements of a Stick Insect Leg
[PDF] [Full Text] [Abstract] , January 1, 2001; 85 (1): 341-353. J Neurophysiol H. Fischer, J. Schmidt, R. Haas and A. Buschges Coordination of Motor Activity Pattern Generation for Walking and Searching Movements of a Stick Insect Leg. I. [PDF] [Abstract] , March 1, 2003; 22 (3-4): 151-167. The International Journal of Robotics Research V. Durr, A. F. Krause, J. Schmitz and H. Cruse Neuroet...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید
ثبت ناماگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید
ورودعنوان ژورنال:
- The Journal of experimental biology
دوره 204 Pt 9 شماره
صفحات -
تاریخ انتشار 2001