ArticleProceedings of the National Academy of Sciences of the United States of America2015
Modulation of orthogonal body waves enables high maneuverability in sidewinding locomotion.
Article in Proceedings of the National Academy of Sciences of the United States of America, 2015. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 13 papers.
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13 citing papers in PubMed, 104 citations in OpenAlex.
- Geometric phase predicts locomotion performance in undulating living systems across scales.Proceedings of the National Academy of Sciences of the United States of America · 2024Article
- Sidewinder-Inspired Self-Adjusting, Lateral-Rolling Soft Robots for Autonomous Terrain Exploration.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2024Article
- Locomotor kinematics on sand versus vinyl flooring in the sidewinder rattlesnake Crotalus cerastes.Biology open · 2023Article
- Self-propulsion via slipping: Frictional swimming in multilegged locomotors.Proceedings of the National Academy of Sciences of the United States of America · 2023Article
- Estimation of interface frictional anisotropy between sand and snakeskin-inspired surfaces.Scientific reports · 2023Article
- Snakes on a slope: strong anti-gravitactic responses and differential habitat use in the Saharan horned viper (Royal Society open science · 2023Article
- Scaling and relations of morphology with locomotor kinematics in the sidewinder rattlesnake Crotalus cerastes.The Journal of experimental biology · 2022Article
- Friction modulation in limbless, three-dimensional gaits and heterogeneous terrains.Nature communications · 2021Article
- Functional consequences of convergently evolved microscopic skin features on snake locomotion.Proceedings of the National Academy of Sciences of the United States of America · 2021Article
- Mechanical diffraction reveals the role of passive dynamics in a slithering snake.Proceedings of the National Academy of Sciences of the United States of America · 2019Article
- Advantage of straight walk instability in turning maneuver of multilegged locomotion: a robotics approach.Scientific reports · 2016Article
- Phototactic guidance of a tissue-engineered soft-robotic ray.Science (New York, N.Y.) · 2016Article
- Snake robot uncovers secrets to sidewinders' maneuverability.Proceedings of the National Academy of Sciences of the United States of America · 2015Article
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Authors and funding
10 authors at 3 institutions in 1 country.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Many organisms move using traveling waves of body undulation, and most work has focused on single-plane undulations in fluids. Less attention has been paid to multiplane undulations, which are particularly important in terrestrial environments where vertical undulations can regulate substrate contact. A seemingly complex mode of snake locomotion, sidewinding, can be described by the superposition of two waves: horizontal and vertical body waves with a phase difference of ± 90°. We demonstrate that the high maneuverability displayed by sidewinder rattlesnakes (Crotalus cerastes) emerges from the animal's ability to independently modulate these waves. Sidewinder rattlesnakes used two distinct turning methods, which we term differential turning (26° change in orientation per wave cycle) and reversal turning (89°). Observations of the snakes suggested that during differential turning the animals imposed an amplitude modulation in the horizontal wave whereas in reversal turning they shifted the phase of the vertical wave by 180°. We tested these mechanisms using a multimodule snake robot as a physical model, successfully generating differential and reversal turning with performance comparable to that of the organisms. Further manipulations of the two-wave system revealed a third turning mode, frequency turning, not observed in biological snakes, which produced large (127°) in-place turns. The two-wave system thus functions as a template (a targeted motor pattern) that enables complex behaviors in a high-degree-of-freedom system to emerge from relatively simple modulations to a basic pattern. Our study reveals the utility of templates in understanding the control of biological movement as well as in developing control schemes for limbless robots.
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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.