Interleg coordination in free-walking bug Erthesina fullo (Hemiptera: Pentatomidae).

Insects can adapt their walking patterns to complex and varied environments and retain the ability to walk even after significant changes in their physical attributes, such as amputation. Although the interleg coordination of intact insects has been widely described in previous studies, the adaptive walking patterns in free-walking insects with amputation of 1 or more legs are still unclear. The pentatomid bug Erthesina fullo exhibits a tripod gait, when walking freely on horizontal substrates, like many other insects. In this study, amputations were performed on this species to investigate changes in interleg coordination. The walking parameters were analyzed, such as the locations of touchdown and liftoff, cycle period, walking speed, and head displacement of intact and amputated insects. The results show that E. fullo displays adaptive interleg coordination in response to amputations. With 1 amputated leg, bugs changed to a 3-unit gait, whereas with 2 amputated legs they employed a wave gait. These data are helpful in exploring the motion mode control in walking insects and provide the theoretical basis for the gait control strategy of robots, when leg failure occurs.

A Novel Wheel-Legged Hexapod Robot.

Traditional mobile robots are mainly divided into wheeled robots and legged robots. They have good performance at fast-moving speeds and crossing obstacles, and weak terrain adaptability and moving speeds, respectively. Combining the advantages of these two types mentioned, a multi-functional wheel-legged hexapod robot with strong climbing capacity was designed in this paper. Each wheel-leg of the robot is driven directly by a single motor and can move smoothly and quickly in a diagonal tripod gait. Based on the obstacle-crossing way of the wheel-leg and combined with the characteristics of insects moving stably in nature, the middle part of the robot body is wider than head and tail. Tripod gait was selected to control the robot locomotion. A series of simulations and experiments were conducted to validate its excellent adaptability to various environmental conditions. The robot can traverse rugged, broken, and obstacle-ridden ground and cross rugged surfaces full of obstacles without any terrain sensing or actively controlled adaptation. It can negotiate obstacles of approximately its own height, which is much higher than its centre of gravity range.

The forewing of a black cicada Cryptotympana atrata (Hemiptera, Homoptera: Cicadidae): Microscopic structures and mechanical properties.

Insects in nature flap their wings to generate lift force and driving torque to adjust their attitude and control stability. An insect wing is a biomaterial composed of flexible membranes and tough veins. In this paper, we study the microscopic structures and mechanical properties of the forewing of the black cicada, Cryptotympana atrata. The thickness of the wing membranes and the diameter of veins varied from the wing root to the tip. The thickness of the wing membranes ranged from 6.0 to 29.9 µm, and the diameter of the wing veins decreased in a gradient from the wing root to the tip, demonstrating that the forewing of the black cicada is a nonuniform biomaterial. The elastic modulus of the membrane near the wing root ranged from 4.45 to 5.03 GPa, which is comparable to that of some industrial membranes. The microstructure of the wing vein exhibited a hollow tubular structure with flocculent structure inside. The "fresh" sample stored more water than the "dry" sample, resulting in a significant difference in the elastic modulus between the fresh and dried veins. The different membrane thicknesses and elastic moduli of the wing veins near the root and tip resulted in varied degrees of deformation on both sides of the flexion line of the forewing during twisting. The measurements of the forewing of the cicada may serve as a guide for selecting airfoil materials for the bionic flapping-wing aircraft and promote the design and manufacture of more durable bionic wings in the future. RESEARCH HIGHLIGHTS: The distribution of the wing vein diameter and the wing membrane thickness indicated that the forewing of Cryptotympana atrata is composed of heterogeneous materials. The wing membrane and the outer wall of the wing vein are the layered structure with multilayer fibers, which has a great significance for improving the ability of the forewing to sustain aerodynamic loads. The elastic modulus of the wing membrane near the wing root is in the range of 4.45-5.03 GPa, which is comparable to that of membranes manufactured by industries. This is a suitable reference for selecting materials for making bionic aircraft wings. We proved that the elastic moduli of the "fresh" and "dry" wing veins differ greatly compared with those of the wing membrane. Because the wing vein microstructure exhibits an internal hollow tubular structure with flocculent structure inside, the "fresh" sample stores more water than the "dry" sample. The wing membrane near the wing root is thicker and reinforced by the main wing vein with a high elastic modulus. This renders the region near the wing root difficult to deform. The membrane far from the wing root is thinner and the elastic modulus of the nearby wing veins is smaller, making them more flexible.

Angular variables of climbing geckos in two lateral undulation patterns.

Geckos demonstrate flexible and agile locomotion on diverse terrains and surfaces. The lateral undulation pattern referring to the trunk-limbs coordination gives animals advantages in terms of motion speed, dynamical stability, and highly efficient movement. Quantitative analysis of the angular variables of the trunk and limbs was proposed to compare the kinematics of Gekko gecko on the vertical plane in the standing wave and traveling wave of lateral undulation patterns. Thirteen angular variables were measured to illustrate the kinematic characteristics of trunk flexion, girdles rotation, scapula rotation, trunk deflection, femoral/humeral protraction-retraction, abduction-adduction, and rotation around their axes, and knee/elbow flexion-extension. One-way analysis of variance (ANOVA) tested for mean differences between patterns for maximum value, minimum value, and range value of each angular variable. The geckos adapted to the changes in locomotion velocity by dynamically adjusting the joints angular variables. Twenty of the thirty-nine angular values showed a significant pattern effect that presented the variation of angular values or the timing of the peak of the angle curve in two different lateral undulation patterns. The climbing stability of a gecko is tightly associated with the coordination between the body and the limbs.