skip to main content
US FlagAn official website of the United States government
dot gov icon
Official websites use .gov
A .gov website belongs to an official government organization in the United States.
https lock icon
Secure .gov websites use HTTPS
A lock ( lock ) or https:// means you've safely connected to the .gov website. Share sensitive information only on official, secure websites.

Explore Research Products in the PAR
It may take a few hours for recently added research products to appear in PAR search results.


Title: The bumpy road ahead: the role of substrate roughness on animal walking and a proposed comparative metric
Outside laboratory conditions and human-made structures, animals rarely encounter flat surfaces. Instead, natural substrates are uneven surfaces with height variation that ranges from the microscopic scale to the macroscopic scale. For walking animals (which we define as encompassing any form of legged movement across the ground, such as walking, running, galloping, etc.), such substrate ‘roughness’ influences locomotion in a multitude of ways across scales, from roughness that influences how each toe or foot contacts the ground, to larger obstacles that animals must move over or navigate around. Historically, the unpredictability and variability of natural environments has limited the ability to collect data on animal walking biomechanics. However, recent technical advances, such as more sensitive and portable cameras, biologgers, laboratory tools to fabricate rough terrain, as well as the ability to efficiently store and analyze large variable datasets, have expanded the opportunity to study how animals move under naturalistic conditions. As more researchers endeavor to assess walking over rough terrain, we lack a consistent approach to quantifying roughness and contextualizing these findings. This Review summarizes existing literature that examines non-human animals walking on rough terrain and presents a metric for characterizing the relative substrate roughness compared with animal size. This framework can be applied across terrain and body scales, facilitating direct comparisons of walking over rough surfaces in animals ranging in size from ants to elephants.  more » « less
Award ID(s):
2048235
PAR ID:
10485896
Author(s) / Creator(s):
; ; ;
Publisher / Repository:
Journal of Experimental Biology
Date Published:
Journal Name:
Journal of Experimental Biology
Volume:
226
Issue:
Suppl_1
ISSN:
0022-0949
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
More Like this
  1. ; (, Integrative and Comparative Biology)
    null (Ed.)
    Synopsis Animals clinging to natural surfaces have to generate attachment across a range of surface roughnesses in both dry and wet conditions. Plethodontid salamanders can be aquatic, semi-aquatic, terrestrial, arboreal, troglodytic, saxicolous, and fossorial and therefore may need to climb on and over rocks, tree trunks, plant leaves, and stems, as well as move through soil and water. Sixteen species of salamanders were tested to determine the effects of substrate roughness and wetness on maximum cling angle. Substrate roughness had a significant effect on maximum cling angle, an effect that varied among species. Substrates of intermediate roughness (asperity size 100–350 µm) resulted in the poorest attachment performance for all species. Small species performed best on smooth substrates, while large species showed significant improvement on the roughest substrates (asperity size 1000–4000 µm), possibly switching from mucus adhesion on a smooth substrate to an interlocking attachment on rough substrates. Water, in the form of a misted substrate coating and a flowing stream, decreased cling performance in salamanders on smooth substrates. However, small salamanders significantly increased maximum cling angle on wetted substrates of intermediate roughness, compared with the dry condition. Study of cling performance and its relationship to surface properties may cast light onto how this group of salamanders has radiated into the most speciose family of salamanders that occupies diverse habitats across an enormous geographical range. 
    more » « less
  2. ; ; (, Annals of the New York Academy of Sciences)
    Abstract The moth fly,Clogmia albipunctata, is a common synanthropic insect with a worldwide range that lives in nearly any area with moist, decaying organic matter. These habitats comprise both smooth, slippery substrates (e.g., bathroom drains) and heterogeneous, bumpy ground (e.g., soil in plant pots). By using terrain of varying levels of roughness, we focus specifically on how substrate roughness at the approximate size scale of the organism affects kinematics and coordination in adult moth flies. Finally, we compare and contrast our characterizations of locomotion inC. albipunctatawith previous work of insect walking in naturalistic environments. 
    more » « less
  3. ; (, Integrative and Comparative Biology)
    null (Ed.)
    Synopsis Arboreal ants must navigate variably sized and inclined linear structures across a range of substrate roughness when foraging tens of meters above the ground. To achieve this, arboreal ants use specialized adhesive pads and claws to maintain effective attachment to canopy substrates. Here, we explored the effect of substrate structure, including small and large-scale substrate roughness, substrate diameter, and substrate orientation (inclination), on adhesion and running speed of workers of one common, intermediately-sized, arboreal ant species. Normal (orthogonal) and shear (parallel) adhesive performance varied on sandpaper and natural leaf substrates, particularly at small size scales, but running speed on these substrates remained relatively constant. Running speed also varied minimally when running up and down inclined substrates, except when the substrate was positioned completely vertical. On vertical surfaces, ants ran significantly faster down than up. Ant running speed was slower on relatively narrow substrates. The results of this study show that variation in the physical properties of tree surfaces differentially affects arboreal ant adhesive and locomotor performance. Specifically, locomotor performance was much more robust to surface roughness than was adhesive performance. The results provide a basis for understanding how performance correlates of functional morphology contribute to determining local ant distributions and foraging decisions in the tropical rainforest canopy. 
    more » « less
  4. ; ; ; ; (, Experimental Mechanics)
    null (Ed.)
    Background: Surface topography strongly modifies adhesion of hard-material contacts, yet roughness of real surfaces typically exists over many length scales, and it is not clear which of these scales has the strongest effect. Objective: This investigation aims to determine which scales of topography have the strongest effect on macroscopic adhesion. Methods: Adhesion measurements were performed on technology-relevant diamond coatings of varying roughness using spherical ruby probes that are large enough (0.5-mm-diameter) to sample all length scales of topography. For each material, more than 2000 measurements of pull-off force were performed in order to investigate the magnitude and statistical distribution of adhesion. Using sphere-contact models, the roughness-dependent effective values of work of adhesion were measured, ranging from 0.08 to 7.15 mJ/m^2 across the four surfaces. The data was more accurately fit using numerical analysis, where an interaction potential was integrated over the AFM-measured topography of all contacting surfaces. Results: These calculations revealed that consideration of nanometer-scale plasticity in the materials was crucial for a good quantitative fit of the measurements, and the presence of such plasticity was confirmed with AFM measurements of the probe after testing. This analysis enabled the extraction of geometry-independent material parameters; the intrinsic work of adhesion between ruby and diamond was determined to be 46.3 mJ/m^2. The range of adhesion was 5.6 nm, which is longer than is typically assumed for atomic interactions, but is in agreement with other recent investigations. Finally, the numerical analysis was repeated for the same surfaces but this time with different length-scales of roughness included or filtered out. Conclusions: The results demonstrate a critical band of length-scales—between 43 nm and 1.8 µm in lateral size—that has the strongest effect on the total adhesive force for these hard, rough contacts. 
    more » « less
  5. ; ; (, Journal of Dynamic Systems, Measurement, and Control)
    Abstract Bipedal locomotion over compliant terrain is an important and largely underexplored problem in the robotics community. Although robot walking has been achieved on some non-rigid surfaces with existing control methodologies, there is a need for a systematic framework applicable to different bipeds that enables stable locomotion over various compliant terrains. In this work, a novel energy-based framework is proposed that allows the dynamic locomotion of bipeds across a wide range of compliant surfaces. The proposed framework utilizes an extended version of the 3D dual spring-loaded inverted pendulum (Dual-SLIP) model that supports compliant terrains, while a bio-inspired controller is employed to regulate expected perturbations of extremely low ground-stiffness levels. An energy-based methodology is introduced for tuning the bio-inspired controller to enable dynamic walking with robustness to a wide range of low ground-stiffness one-step perturbations. The proposed system and controller are shown to mimic the vertical ground reaction force (GRF) responses observed in human walking over compliant terrains. Moreover, they succeed in handling repeated unilateral stiffness perturbations under specific conditions. This work can advance the field of biped locomotion by providing a biomimetic method for generating stable human-like walking trajectories for bipedal robots over various compliant surfaces. Furthermore, the concepts of the proposed framework could be incorporated into the design of controllers for lower-limb prostheses with adjustable stiffness to improve their robustness over compliant surfaces. 
    more » « less
  • Citation Formats
  • MLA
  • APA
  • Chicago
  • BibTeX
  • Save / Share this Record
  • Send to Email