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Rapid, vertically climbing cockroaches produced climbing dynamics similar to geckos, despite differences in attachment mechanism, ;foot or toe' morphology and leg number. Given the common pattern in such diverse species, we propose the first template for the dynamics of rapid, legged climbing analogous to the spring-loaded, inverted pendulum used to(More)
Geckos with adhesive toe pads rapidly climb even smooth vertical surfaces. We challenged geckos (Hemidactylus garnotii) to climb up a smooth vertical track that contained a force platform. Geckos climbed vertically at up to 77 cm s(-1) with a stride frequency of 15 Hz using a trotting gait. During each step, whole body fore-aft, lateral and normal forces(More)
The passive elasticity of muscle is largely governed by the I-band part of the giant muscle protein titin, a complex molecular spring composed of a series of individually folded immunoglobulin-like domains as well as largely unstructured unique sequences. These mechanical elements have distinct mechanical properties, and when combined, they provide the(More)
While the dynamics of running arthropods have been modeled as a spring-mass system, no such structures have been discovered that store and return energy during bouncing. The hindleg of the cockroach Blaberus discoidalis is a good candidate for a passive, vertical leg spring because its vertically oriented joint axes of rotation limit the possibility of(More)
Elastic mechanisms in the invertebrates are fantastically diverse, yet much of this diversity can be captured by examining just a few fundamental physical principles. Our goals for this commentary are threefold. First, we aim to synthesize and simplify the fundamental principles underlying elastic mechanisms and show how different configurations of basic(More)
Cockroaches recover rapidly from perturbations during high-speed running that allows them to cross unstructured terrains with no change in gait. Characterization of the exoskeletal material properties of the legs suggests that passive mechanical feedback could contribute to the self-stabilizing behavior. We imposed large, dorsal-ventrally directed impulsive(More)
Dissertation: " Passive mechanical properties of the exoskeleton simplify the control of rapid running in the cockroach, Blaberus discoidalis " University of Chicago B.A. in Biology with Honors, 6/98 Research Advisor: Mark W. Westneat Thesis: " Kinematics of pectoral fin locomotion in Halichoeres bivittatus " RESEARCH Assistant Professor 9/09 – current o(More)
Each week we will meet to discuss the following topics for 90 minutes. You must read the assigned papers beforehand and come prepared to discuss the materials. You will also be expected to read the assigned book. Work will be graded by active participation and on small assignments made throughout the semester. Non graded participants are also welcome(More)
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