Coordinating tiny limbs and long bodies: Geometric mechanics of lizard terrestrial swimming.

  title={Coordinating tiny limbs and long bodies: Geometric mechanics of lizard terrestrial swimming.},
  author={Baxi Chong and Tianyu Wang and Eva Erickson and Philip J. Bergmann and Daniel I. Goldman},
  journal={Proceedings of the National Academy of Sciences of the United States of America},
  volume={119 27},
  • Baxi Chong, Tianyu Wang, D. Goldman
  • Published 23 January 2022
  • Biology
  • Proceedings of the National Academy of Sciences of the United States of America
Although typically possessing four limbs and short bodies, lizards have evolved diverse morphologies, including elongate trunks with tiny limbs. Such forms are hypothesized to aid locomotion in cluttered/fossorial environments but propulsion mechanisms (e.g., the use of body and/or limbs to interact with substrates) and potential body/limb coordination remain unstudied. Here, we use biological experiments, a geometric theory of locomotion, and robophysical models to investigate body-limb… 

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