Adhesive force of a single gecko foot-hair
- K. Autumn, Yiching A. Liang, R. Full
- BiologyNature
- 8 June 2000
The first direct measurements of single setal force are reported by using a two-dimensional micro-electro-mechanical systems force sensor and a wire as a force gauge and revealed that a seta is ten times more effective at adhesion than predicted from maximal estimates on whole animals.
Templates and anchors: neuromechanical hypotheses of legged locomotion on land.
- R. Full, D. Koditschek
- BiologyJournal of Experimental Biology
- 1 December 1999
Anchored templates of many-legged, sprawled-postured animals suggest that passive, dynamic self-stabilization from a feedforward, tuned mechanical system can reject rapid perturbations and simplify control.
Evidence for van der Waals adhesion in gecko setae
This work provides the first direct experimental evidence for dry adhesion of gecko setae by van der Waals forces, and suggests a possible design principle underlying the repeated, convergent evolution of dry adhesive microstructures in gecko, anoles, skinks, and insects.
How animals move: an integrative view.
- M. Dickinson, C. T. Farley, R. Full, M. Koehl, R. Kram, S. Lehman
- Engineering, BiologyScience
- 7 April 2000
Muscles have a surprising variety of functions in locomotion, serving as motors, brakes, springs, and struts, and how they function as a collective whole is revealed.
The Dynamics of Legged Locomotion: Models, Analyses, and Challenges
- P. Holmes, R. Full, D. Koditschek, J. Guckenheimer
- BiologySIAM Review
- 1 February 2006
This review describes mathematical models for legged animal locomotion, focusing on rapidly running insects and highlighting past achievements and challenges that remain.
Dynamics of geckos running vertically
- K. Autumn, S. Hsieh, D. Dudek, J. Chen, C. Chitaphan, R. Full
- BiologyJournal of Experimental Biology
- 15 January 2006
Differential leg function appears essential for effective vertical as well as horizontal locomotion, and the period of fore–aft force production might be constrained.
Mechanics of a rapid running insect: two-, four- and six-legged locomotion.
The mass-specific mechanical energy used to move the center of mass a given distance was similar to that measured for animals five orders of magnitude larger in mass, but was only one-hundredth of the metabolic cost.
Similarity in multilegged locomotion: Bouncing like a monopode
- R. Blickhan, R. Full
- Engineering, BiologyJournal of Comparative Physiology
- 1 November 1993
Comparison of dimensionless parameters revealed that locomotor dynamics depend on gait and leg number and not on body mass, and Relative stiffness per leg was similar for all animals and appears to be a very conservative quantity in the design of legged locomotor systems.
Dynamics of rapid vertical climbing in cockroaches reveals a template
- D. Goldman, Tao Chen, D. Dudek, R. Full
- BiologyJournal of Experimental Biology
- 1 August 2006
This work proposes the first template for the dynamics of rapid, legged climbing analogous to the spring-loaded, inverted pendulum used to characterize level running in a diversity of pedestrians, and measured single leg wall reaction forces and center of mass dynamics in death-head cockroaches Blaberus discoidalis.
Leg design in hexapedal runners.
- R. Full, R. Blickhan, L. Ting
- BiologyJournal of Experimental Biology
- 1 July 1991
To explain how diverse leg designs can result in common whole-body dynamics, a miniature force platform was used to measure the ground reaction forces produced by individual legs of the cockroach Blaberus discoidalis and showed that deviations from the minimum moments may be explained by considering the minimization of the summed muscle forces in more than one leg.
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