Multilevel dynamic adjustments of geckos (Hemidactylus frenatus) climbing vertically: head-up versus head-down

Johanna T. Schultz; David Labonte; Christofer J. Clemente

doi:10.1098/rsif.2022.0840

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Multilevel dynamic adjustments of geckos (Hemidactylus frenatus) climbing vertically: head-up versus head-down

Journal article

Peer reviewed

Multilevel dynamic adjustments of geckos (Hemidactylus frenatus) climbing vertically: head-up versus head-down

Johanna T. Schultz, David Labonte and Christofer J. Clemente

Journal of the Royal Society. Interface, Vol.20(201), pp.1-12

2023

DOI: https://doi.org/10.1098/rsif.2022.0840

PMID: 37015264

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Abstract

Climbing Dynamics

Climbing Lizards

Legged Robotic Gait

Vertical Locomotion

Many climbing animals use direction dependent adhesives to attach to vertical or inclined surfaces. These structures adhere when activated via a pull but detach when pushed. Therefore, a challenge arises when a change in climbing direction causes external forces such as gravity to change its acting orientation upon the lizard. To investigate how specialized climbers adjust, we studied kinematics and dynamics of six Hemidactylus frenatus geckos climbing head up and head down a vertical racetrack. We found that limbs functionally swap their adhesive role: feet above the centre of mass (COM) generated adhesive forces, feet below the COM compressive forces, both equal in magnitude across directions. To investigate how lizards perform this swap, despite the constraint of their direction dependent adhesives, we analysed kinematic adjustments across multiple smaller levels of hierarchy: limbs, feet and toes. All levels contributed: the hindfoot angle was reoriented realigning the adhesive structure, the hindlimb centre range of motion was further protracted and the hindfoot toe spreading was reduced. Notably, all three variables were adjustments of hindlimbs, suggesting that they make a more flexible contribution in upward versus downward climbing, while forelimbs may be anatomically or functionally constrained. The relevance of multilevel dynamic adjustments might inform the development of performant gaits for legged climbing robots.

Details

Title: Multilevel dynamic adjustments of geckos (Hemidactylus frenatus) climbing vertically: head-up versus head-down
Authors: Johanna T. Schultz (Author) - University of the Sunshine Coast, Queensland, School of Science, Technology and Engineering
David Labonte (Author) - Department of Bioengineering, Imperial College London, London, UK
Christofer J. Clemente (Author) - University of the Sunshine Coast, Queensland, School of Science, Technology and Engineering
Publication details: Journal of the Royal Society. Interface, Vol.20(201), pp.1-12
Publisher: The Royal Society Publishing
Date published: 2023
DOI: 10.1098/rsif.2022.0840
ISSN: 1742-5662
PMID: 37015264
Grants: Understanding evolution in natural systems using robotic models., DP180100220, Australian Research Council (Australia, Canberra) - ARC
Organisation Unit: School of Science, Technology and Engineering
Language: English
Record Identifier: 99717698502621
Output Type: Journal article

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Collaboration types: Domestic collaboration; International collaboration
Web Of Science research areas: Zoology

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