Lateral undulation of the flexible spine of sprawling posture vertebrates

Wei Wang, Aihong Ji*, Poramate Manoonpong, Huan Shen, Jie Hu, Zhendong Dai, Zhiwei Yu

*Corresponding author for this work

Research output: Contribution to journalReviewResearchpeer-review

Abstract

Sprawling posture vertebrates have a flexible spine that bends the trunk primarily in the horizontal plane during locomotion. By coordinating cyclical lateral trunk flexion and limb movements, these animals are very mobile and show extraordinary maneuverability. The dynamic and static stability displayed in complex and changing environments are highly correlated with such lateral bending patterns. The axial dynamics of their compliant body can also be critical for achieving energy-efficient locomotion at high velocities. In this paper, lateral undulation is used to characterize the bending pattern. The production of ground reaction forces (GRFs) and the related center of mass (COM) dynamics during locomotion are the fundamental mechanisms to be considered. Mainly based on research on geckos, which show unrestricted movement in three-dimensional space, we review current knowledge on the trunk flexibility and waveforms of lateral trunk movement. We investigate locomotion dynamics and mechanisms underlying the lateral undulation pattern. This paper also provides insights into the roles of this pattern in obtaining flexible and efficient walking, running, and climbing. Finally, we discuss the potential application of lateral undulation patterns to bio-inspired robotics.

Original languageEnglish
JournalJournal of Comparative Physiology A: Neuroethology, Sensory, Neural, and Behavioral Physiology
Volume204
Issue number8
Pages (from-to)707-719
ISSN0340-7594
DOIs
Publication statusPublished - Aug 2018

Fingerprint

posture
locomotion
spine (bones)
Locomotion
Vertebrates
vertebrate
vertebrates
maneuverability
Lizards
Gekkonidae
Robotics
robotics
walking
limbs (animal)
limb
animal
energy
Research
animals

Keywords

  • Energy-efficient locomotion
  • Flexible spine
  • Gecko
  • Lateral undulation
  • Sprawling posture

Cite this

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title = "Lateral undulation of the flexible spine of sprawling posture vertebrates",
abstract = "Sprawling posture vertebrates have a flexible spine that bends the trunk primarily in the horizontal plane during locomotion. By coordinating cyclical lateral trunk flexion and limb movements, these animals are very mobile and show extraordinary maneuverability. The dynamic and static stability displayed in complex and changing environments are highly correlated with such lateral bending patterns. The axial dynamics of their compliant body can also be critical for achieving energy-efficient locomotion at high velocities. In this paper, lateral undulation is used to characterize the bending pattern. The production of ground reaction forces (GRFs) and the related center of mass (COM) dynamics during locomotion are the fundamental mechanisms to be considered. Mainly based on research on geckos, which show unrestricted movement in three-dimensional space, we review current knowledge on the trunk flexibility and waveforms of lateral trunk movement. We investigate locomotion dynamics and mechanisms underlying the lateral undulation pattern. This paper also provides insights into the roles of this pattern in obtaining flexible and efficient walking, running, and climbing. Finally, we discuss the potential application of lateral undulation patterns to bio-inspired robotics.",
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author = "Wei Wang and Aihong Ji and Poramate Manoonpong and Huan Shen and Jie Hu and Zhendong Dai and Zhiwei Yu",
year = "2018",
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language = "English",
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Lateral undulation of the flexible spine of sprawling posture vertebrates. / Wang, Wei; Ji, Aihong; Manoonpong, Poramate; Shen, Huan; Hu, Jie; Dai, Zhendong; Yu, Zhiwei.

In: Journal of Comparative Physiology A: Neuroethology, Sensory, Neural, and Behavioral Physiology, Vol. 204, No. 8, 08.2018, p. 707-719.

Research output: Contribution to journalReviewResearchpeer-review

TY - JOUR

T1 - Lateral undulation of the flexible spine of sprawling posture vertebrates

AU - Wang, Wei

AU - Ji, Aihong

AU - Manoonpong, Poramate

AU - Shen, Huan

AU - Hu, Jie

AU - Dai, Zhendong

AU - Yu, Zhiwei

PY - 2018/8

Y1 - 2018/8

N2 - Sprawling posture vertebrates have a flexible spine that bends the trunk primarily in the horizontal plane during locomotion. By coordinating cyclical lateral trunk flexion and limb movements, these animals are very mobile and show extraordinary maneuverability. The dynamic and static stability displayed in complex and changing environments are highly correlated with such lateral bending patterns. The axial dynamics of their compliant body can also be critical for achieving energy-efficient locomotion at high velocities. In this paper, lateral undulation is used to characterize the bending pattern. The production of ground reaction forces (GRFs) and the related center of mass (COM) dynamics during locomotion are the fundamental mechanisms to be considered. Mainly based on research on geckos, which show unrestricted movement in three-dimensional space, we review current knowledge on the trunk flexibility and waveforms of lateral trunk movement. We investigate locomotion dynamics and mechanisms underlying the lateral undulation pattern. This paper also provides insights into the roles of this pattern in obtaining flexible and efficient walking, running, and climbing. Finally, we discuss the potential application of lateral undulation patterns to bio-inspired robotics.

AB - Sprawling posture vertebrates have a flexible spine that bends the trunk primarily in the horizontal plane during locomotion. By coordinating cyclical lateral trunk flexion and limb movements, these animals are very mobile and show extraordinary maneuverability. The dynamic and static stability displayed in complex and changing environments are highly correlated with such lateral bending patterns. The axial dynamics of their compliant body can also be critical for achieving energy-efficient locomotion at high velocities. In this paper, lateral undulation is used to characterize the bending pattern. The production of ground reaction forces (GRFs) and the related center of mass (COM) dynamics during locomotion are the fundamental mechanisms to be considered. Mainly based on research on geckos, which show unrestricted movement in three-dimensional space, we review current knowledge on the trunk flexibility and waveforms of lateral trunk movement. We investigate locomotion dynamics and mechanisms underlying the lateral undulation pattern. This paper also provides insights into the roles of this pattern in obtaining flexible and efficient walking, running, and climbing. Finally, we discuss the potential application of lateral undulation patterns to bio-inspired robotics.

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