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Felidae species show a great diversity in their diet, foraging and hunting strategies, from small to large prey. Whether they belong to solitary or group hunters, the behavior of cats to subdue resisting small or large prey presents crucial differences. It is assumed that pack hunting reduces the per capita risk of each individual. We hypothesize that the sacroiliac articulation plays a key role in stabilizing the predator while subduing and killing prey. Using CT-scan from 59 felid coxal bones, we calculated the angle between both iliac articular surfaces. Correlation of this inter-iliac angle with body size was calculated and ecological stressors were evaluated on inter-iliac angle. Body size significantly influences inter-iliac angle with small cats having a wider angle than big cats. Arboreal species have a significantly larger angle compared to cursorial felids with the smallest value, and to scansorial and terrestrial species with intermediate angles. Felids hunting large prey have a smaller angle than felids hunting small and mixed prey. Within the Panthera lineage, pack hunters (lions) have a larger angle than all other species using solitary hunting strategy. According to the inter-iliac angle, two main groups of felids are determined: (i) predators with an angle of around 40° include small cats (i.e., Felis silvestris, Leopardus wiedii, Leptailurus serval, Lynx Canadensis, L. rufus; median = 43.45°), the only pack-hunting species (i.e., Panthera leo; median = 37.90°), and arboreal cats (i.e., L. wiedii, Neofelis nebulosa; median = 49.05°), (ii) predators with an angle of around 30° include solitary-hunting big cats (i.e., Acinonyx jubatus, P. onca, P. pardus, P. tigris, P. uncia; median = 31.80°). We suggest different pressures of selection to interpret these results. The tightening of the iliac wings around the sacrum probably enhances big cats’ ability for high speed and large prey control. In contrast, pack hunting in lions reduced the selective pressure for large prey.

A major problem of evolution addressed by Darwin, in his Origin of Species (Darwin in On the origin of species. John Murray, London, 1859) is the evolutionary relationship between complex structures and their function, colloquially referred to as form–function relationships. Many of the insights that Darwin contributed to our conceptual framework of evolution are based on careful observations of traits in diverse fossil and extant vertebrates.

Living lizards exploit almost all terrestrial ecosystems where they play the roles of both predator and prey in complex food webs. Bels et al. (Biomechanics of feeding in Vertebrates, 197–240, 1994) and Schwenk (Feeding: form, function and evolution in Tetrapod Vertebrates, 459–485, 2000) provided first detailed overviews about the anatomical and functional traits of the feeding stages and phases of the feeding cycle in these tetrapods. Here, we synthesize recent literature in order to provide discussion of the evolution of their feeding behavior from capture to swallowing.

International audience; Felids show remarkable phenotypic similarities and are conservative in behavioral and ecological traits. In contrast, they display a large range in body mass from around 1kg to more than 300kg. Body size and locomotory specializations correlate to skull, limb and vertebral skeleton morphology. With an increase in body mass, felids prey selection switches from small to large, from using a rapid skull or spine lethal bite for small prey, to sustained suffocating bite for large prey. Dietary specialization correlates to skull and front limbs morphology but no correlation was found on the spine or on the hind limb. The morphology of the sacroiliac junction in relation to ecological factors remained to be described. We are presenting a study of the overall shape of the iliac auricular surface with qualitative and quantitative analyses of its morphology. Our results demonstrate that body mass, prey selection, and bite type, crucially influence the auricular surface, where no significant effect of locomotor specialization was found. The outline of the surface is significantly more elevated dorso-caudally and the joint surface shows an irregular W-shape topography in big cats whereas the surface in small cats is smoother with a C-shape topography and less of an elevated ridge. Biomechanically, we suggest that a complex auricular surface increases joint stiffness and provides more support in heavier cats, an advantage for subduing big prey successfully during a sustained bite.

Among predators using an adhesive tongue to feed, chameleons are able to capture large prey by projecting the tongue at high acceleration. Once in contact with a prey, the tongue retracts with a comparable acceleration to bring it to the mouth. A strong adhesion between the tongue tip and the prey is therefore required during the retraction phase to ensure a successful capture. To investigate the mechanism responsible for this strong bond, the viscosity of the mucus produced at the chameleon's tongue pad is measured, using the viscous drag exerted on rolling beads by a thin layer of mucus. Here we show that the viscosity of this secretion is about 400 times larger than that of human saliva. We incorporate this viscosity into a dynamical model for viscous adhesion, which describes the motion of the compliant tongue and the prey during the retraction phase. The variation of the maximum prey size with respect to the chameleon body length is derived, and compared with in vivo observations for various chameleon species. Our study shows that the size of the captured prey is not limited by viscous adhesion, owing to the high mucus viscosity and large contact area between the prey and the tongue., SCOPUS: ar.j, info:eu-repo/semantics/published

Tongue-flicking is an important sensory behavior unique to squamate reptiles in which chemical stimuli gathered by the tongue are delivered the vomeronasal organ situated in the roof of the mouth. Because tongue-flick numbers can easily be quantified, this behavior has been widely used as a measure of vomeronasal sampling in snakes using related variables such as tongue-flick rate or tongue-flick/attack score. Surprisingly, the behavior itself and especially the function of the oscillatory tongue-flicks remains poorly understood. To describe the overall kinematics of tongue-flicking in the colubrid snake Nerodia fasciata and to test predictions on the function of oscillatory tongue-flicks, we filmed the tongue-flicks of 8 adult Nerodia fasciata using 4 synchronized high-speed cameras. Three-dimensional kinematic and performance variables were extracted from the videos in order to quantify tongue movements. Based on the kinematic analysis, we demonstrate the existence of 2 functional and behavioral tongue-flick categories. Tongue-flicks with oscillations meet all the criteria for being adapted to the collection of odorants; simple downward extensions appear better suited for the rapid pick up of nonvolatile chemical stimuli from the substrate or a food item. External stimuli such as tactile and/or vomeronasal stimulation can induce a shift between these categories.

Primates are typically subdivided into two fundamentally different groups: Strepsirrhini and Haplorrhini. These two suborders are differentiated by several anatomical characteristics, among which are features of the wrist and hand. Whereas strepsirrhines are characterized by an ectaxonic hand with a longer fourth digit, haplorhines display a mesaxonic hand with a longer third digit. Two complementary studies suggest that (1) an ulnarly deviated hand with respect to the forearm during locomotion is typical for ectaxonic hands and thin branches whereas mesaxonic hands display a less-deviated posture in relation to a more terrestrial type of locomotion; (2) ulnar deviations are not always produced by ectaxonic hands and may rather be associated with locomotion in an arboreal environment. The aim of this study was to explore how arboreal substrates influence the posture of the hand and the wrist in contact with the substrate. In this context, we assessed the grasping ability of the strepsirrhine Microcebus murinus, a highly arboreal species. Here we tested the effect of branch diameter (1 and 3 cm) and orientation (horizontal and vertical) on grasp choice during arboreal locomotion. Our results show that two hand postures were observed on horizontal substrates versus three-hand postures on vertical substrates. When ulnar deviation was observed, it was typically observed on vertical substrates, particularly on thick ones. In conclusion, our data show that vertical substrates increase the variability in grasping hand postures for M. murinus and include the use of uncommon grasps compared with horizontal substrates. We suggest that more than the arboreal substrate, the frequent use of vertical supports may influence the hand biomechanics towards ulnar deviation as observed for lorisids and indriids.

This study provides a morphometric data set of body segments that are biomechanically relevant for locomotion in two ecomorphs of adult male anoles, namely, the trunk-ground Anolis sagrei and the trunk-crown Anolis carolinensis. For each species, 10 segments were characterized, and for each segment, length, mass, location of the center of mass, and radius of gyration were measured or calculated, respectively. The radii of gyration were computed from the moments of inertia by using the double swing pendulum method. The trunk-ground A. sagrei has relatively longer and stockier hindlimbs and forelimbs with smaller body than A. carolinensis. These differences between the two ecomorphs demonstrated a clear relationship between morphology and performance, particularly in the context of predator avoidance behavior, such as running or jumping in A. sagrei and crypsis in A. carolinensis. Our results provide new perspectives on the mechanism of adaptive radiation as the limbs of the two species appear to scale via linear factors and, therefore, may also provide explanations for the mechanism of evolutionary changes of structures within an ecological context.

Predator–prey interactions are probably one of the key mechanisms for explaining the evolution of organisms in their ecosystems. Scientific fields relevant to understanding the mechanisms of these interactions are as diverse as evolutionary biology, behavioral ecology, ecomorphology, molecular biology, phylogeny, neurosciences, physiology, biomechanics, and robotics. The difficulty in understanding these mechanisms lies therefore (1) in the multi- and interdisciplinary nature of this issue, and (2) in keeping up with very rapid developments in various scientific fields. This Special Issue provides an interdisciplinary approach to predator–prey interactions to identify how phenotypic traits of both types of organisms interact and how each can act as a selective pressure on the evolution of a population of organisms at the different levels of the trophic chain. Moreover, we show that confronting bodies of knowledge that a priori appear as remote as those of robotics and experimental biology or ecology may seem difficult but can provide reciprocal understanding.

607..622 Although prey capture is thought to be based on the coordinated movements of the jaw and locomotor apparatus (i.e. the vertebral column and the limbs), jaw–neck–forelimb coordination has never been compared among related species. The kinematics of jaw, neck, and forelimb movements were recorded in lizards that use jaw prehension: Gerrhosaurus major, Tupinambis merianae, Varanus niloticus, and Varanus ornatus. These species provide a comparative framework to discuss the influence of morphological differences and ecological convergence on the jaw–neck–forelimb coordination patterns. Jaw–neck–forelimb coordination was quantified by determining whether maximum neck elevation and maximum forelimb flexion are synchronized with either the start of jaw opening or maximum gape. Significant differences in the jaw–neck–forelimb coordination pattern among species were observed, with maximum neck elevation being synchronized with the start of jaw opening in varanids, whereas in T. merianae and G. major, it is achieved closer to maximum gape. Differences in locomotor–feeding integration are suggested to be related to dietary specializations, and as such may play a role in feeding adaptation. The jaw–neck–forelimb coordination pattern used by varanids may indeed be advantageous to prepare a quick strike triggered from further away, providing a critical advantage when feeding on evasive prey. © 2012 The Linnean Society of London, Biological Journal of the Linnean Society, 2012, 105, 607–622.

In arboreal animals such as the grey mouse lemur (Microcebus murinus Miller, 1777), leaping is the most frequent strategy for predator avoidance. The aim of this study was to characterise the locomotor adaptation in response to the structural constraint of the habitat (i.e., position of the landing substrate). Thus, we characterised the push-off phase by inducing the lemurs to leap up to a range of heights from horizontal to their own individual highest performance. Using uniplanar high-frequency cineradiographs collected in a sagittal plane, the relative contributions of the centre of mass (CoM) velocity vector magnitude and orientation to leaping performance were evaluated. The kinematics of the push-off phase showed that for low landing heights, leaping performance was essentially due to hip and knee extensions. Higher leaps seemed to be related to an increase in ankle contribution. At all leaping heights, the proximal-to-distal sequence of the hind limb joints controlled the orientation and magnitude of the M. murinus CoM velocity vector while pushing off. Finally, the analysis of the velocity vector at the onset of take-off suggested that the optimal solution for predator avoidance was to leap for horizontal distance and not for vertical distance.

The most common and plesiomorphic mechanism of food transport in tetrapods is lingual-based. Neognathous birds use this mechanism for exploiting a large diversity of food resources, whereas paleognathous birds use cranioinertial mechanism with or without tongue involvement. Food transport in three hornbills' species (Aceros cassidix, A. undulatus, and Buceros hydrocorax) is defined by a ballistic transport mechanism. Only one transport cycle is used for moving the food from the tip of the beak to the pharynx. The tongue never makes contact with the food nor is it used to expand the buccal cavity. In hornbills, filmed through high-speed video, time to food release occurred between 0.11 and 0.16 sec before time to maximum gape. The ballistic curves show similar patterns. Maximum gape angle is significantly different between the three species. Each species show a different kinematic and motor pattern of head movements associated with ballistic transport. In A. undulatus, head rotation follows a continuous pattern similar to that reported earlier in toucans. A. cassidix rotates head downward at the time of maximum gape to permit food to reach the pharynx without touching the mandible. B. hydrocorax elevates the head along the transport cycle to avoid contact with the food to the cavity of the upper beak. Selection of large food items in the diet may explain the evolutionary trend of using ballistic transport in the feeding behavior of hornbills, which play a key role in tropical forest ecology by dispersing seeds.

This paper discusses on the role of joint temporal sequence while moving a two-dimensional arm from an initial position to targets into the fingertip workspace in humans. For this purpose, we proposed a general monotonic model of joint asymmetric displacement. Optimization consisted in minimizing least square dis-placement of either fingertip or arm centre of mass from arm initial position to four targets located into fin-gertip workspace, i.e. contralaterally and ipsilaterally. Except for 60° ipsilateral target, results of the simula-tion presented in all cases temporal sequences of the shoulder, the elbow and the wrist. We concluded that primary function of proximal-to-distal or distal-to-proximal joint sequence is to flatten the trajectory of the fingertip or body centre of mass.

International audience; Several statements by Pouydebat et al. (2008) do not adequately represent views of authors cited, in part because they reflect confusion in the literature about terminology regarding precision gripping. We address these problems, by tracing definitions of precision grips through the literature on manipulative behaviour and identifying the grip that is central to the Pouydebat et al. (2008) study. This allows us to offer a clarification of the statements by Pouydebat et al. (2008) regarding the sequence of appearance of human grip capabilities and possible morphological correlates to these capabilities in extant species.

Detailed descriptions of tongue morphology of members of Squamata that refer to functional implications other than food processing are rare. Herein we focus on the morphology of the dorsal epithelium and internal structure of the tongue of the Leopard Gecko, Eublepharis macularius, emphasizing the foretongue and its relation to fluid uptake. We employ both scanning electron microscopy and serial histology to examine the morphology of the entire tongue, its component regions, and its situation in the oral chamber. We recognize five distinct morphological regions of the dorsal tongue surface, each of which is distinctive both morphologically and histologically. The foretongue bears papillae quite different in structure and spacing from those of all other tongue regions, and these non-glandular structures are involved in gathering and transporting fluid from the environment. Fluid unloaded from the foretongue in the region of the vomeronasal sinus is channeled through the network of cuboidal papillae and directed towards a pair of compartments lateral to the tongue in which fluid pools during a drinking bout. This allows the dorsal surface of the mid- and hind-tongue, which are involved in food processing and manipulation, to be largely segregated from the pathway of fluid flow. We relate our findings to descriptions of the tongue of other taxa, and propose functional hypotheses for the observed morphology. This study provides new anatomical information upon which future studies of the functional morphology of the buccal apparatus in the Gekkota can be based.

The basic mechanism of food transport in tetrapods is lingual-based. Neognathous birds use this mechanism for exploiting a large diversity of food resources, whereas paleognathous birds use cranioinertial mechanism with or without tongue involvement. Food transport in two neognathous species of toucans (Ramphastos toco and R. vitellinus) is defined as ballistic transport mechanism. Only one transport cycle is used for moving the food from the tip of the beak to the pharynx. The food is projected between jaws with similar initial velocity in both species. At the time of release, the angle between trajectory of food position and horizontal is higher in R. vitellinus with a shorter beak than in R. toco. The tongue never makes contact with the food nor is it used to expand the buccal cavity. Tongue movement is associated with throat expansion, permitting the food to reach the entrance of the esophagus at the end of the ballistic trajectory. Selection of large food items in the diet may explain the evolutionary trend of using ballistic transport in the feeding behavior of toucans, which plays a key role in ecology of tropical forest.

SUMMARYIn tetrapods, feeding behaviour in general, and prey capture in particular,involves two anatomical systems: the feeding system and the locomotor system. Although the kinematics associated with the movements of each system have been investigated in detail independently, the actual integration between the two systems has received less attention. Recently, the independence of the movements of the jaw and locomotor systems was reported during tongue-based prey capture in an iguanian lizard (Anolis carolinensis), suggesting a decoupling between the two systems. Jaw prehension, on the other hand, can be expected to be dependent on the movements of the locomotor system to a greater degree. To test for the presence of functional coupling and integration between the jaw and locomotor systems, we used the cordyliform lizard Gerrhosaurus major as a model species because it uses both tongue and jaw prehension. Based on a 3-D kinematic analysis of the movements of the jaws, the head, the neck and the forelimbs during the approach and capture of prey, we demonstrate significant correlations between the movements of the trophic and the locomotor systems. However, this integration differs between prehension modes in the degree and the nature of the coupling. In contrast to our expectations and previous data for A. carolinensis,our data indicate a coupling between feeding and locomotor systems during tongue prehension. We suggest that the functional integration between the two systems while using the tongue may be a consequence of the relatively slow nature of tongue prehension in this species.

Squamates are well-known models for studying to examine locomotor and feeding behaviors in tetrapods, but studies that integrate both behavioral activities remain scarce. Anolis lizards are a classical lineage to study the evolutionary relationships between locomotor behavior and complex structural features of the habitat. Here, we analyzed prey-capture behavior in one representative arboreal predator, Anolis carolinensis, to demonstrate the functional links between locomotor strategies and the kinematics of feeding. A. carolinensis uses two strategies to catch living insects on perches: Head-Up Capture and Jump Capture. In both cases, lizards use lingual prehension to capture the prey and the kinematic patterns of the trophic apparatus are not significantly influenced by the selected strategies. Therefore, to capture one prey type, movements of the trophic structures are highly fixed and A. carolinensis modulates the locomotor pattern to exploit the environment. Predation behavior in A. carolinensis integrates two different behavioral patterns: locomotor plasticity of prey-approach and biomechanical stereotypy of tongue prehension to successfully capture the prey.

Locomotion in terrestrial vertebrates is supposed to be derived from preadaptation in bottom-dwelling fish. A few fish species have been assumed to walk on the substratum, on the basis of coordinated movements of their paired fins. However, the validity of this assumption has remained uncertain, because of a lack of evidence that their fin rays actually exert a force on the substratum. Here, we provide the first conclusive evidence that a benthic teleost fish, the gurnard, Chelidonichthys lucerna (Triglidae), exerts forces on the substratum during its temporary bottom-dwelling hexapod locomotion. This demonstration was achieved by the use of a photoelastic gel technique combined with a force calibration device. The movement patterns of the three first pairs of rays of the pectoral fins were analysed in relation to the forces exerted on the substratum, by measuring deformations of the photoelastic gel substratum produced by the rays. The rays were shown to produce a force pattern that confirmed the existence of a hexapod locomotion in a vertebrate that was consistent with body propulsion and voluntary substratum walking. J. Exp. Zool. 307A:542–547, 2007. © 2007 Wiley-Liss, Inc.

We conducted an experiment to examine the effect of substrate on the nut-cracking behavior of a group of semicaptive capuchin monkeys. We wanted to determine whether tufted capuchin monkeys were selective in choosing the substrate on which they pound nuts, and whether the choice of substrate affected the outcome. Eight adult females and eight juveniles were provided with nuts in the outdoor facility. We found that 1) all adult females and three young capuchins succeeded in cracking nuts; 2) they preferred the hardest substrates (concrete and stone); 3) there is a link between the substrate and the amount of time needed to crack a nut; 4) most young capuchins used various substrates, some of which were inadequate, in a haphazard manner; and 5) there are different forms of nut cracking. We conclude that adult capuchins choose the hardest substrates, and that these substrates support efficient cracking.

International audience; Agamid lizards use tongue prehension for capturing all types of prey. The purpose of this study was to investigate the functional relationship between tongue structure, both surface and musculature, and function during prey capture in Pogona vitticeps. The lack of a detailed description of the distribution of fibre-types in the tongue muscles in some iguanian lizards has hindered the understanding of the functional morphology of the lizard tongue. Three methodological approaches were used to fill this gap. First, morphological analyses were performed (i) on the tongue surface through scanning electron microscopy, and (ii) on the lingual muscle by histological coloration and histochemistry to identify fibre-typing. Secondly, kinematics of prey capture was quantified by using high-speed video recordings to determine the movement capabilities of the tongue. Finally, electromyography (EMG) was used to identify the motor pattern tongue muscles during prey capture. Morphological and functional data were combined to discuss the functional morphology of the tongue in agamid lizards, in relation to their diet. During tongue protraction, M. genioglossus contracts 420 ± 96 ms before tongue-prey contact. Subsequently, Mm. verticalis and hyoglossus contract throughout tongue protraction and retraction. Significant differences are found between the timing of activity of the protractor muscles between omnivorous agamids (Pogona sp., this study) and insectivorous species (Agama sp.), despite similar tongue and jaw kinematics. The data confirm that specialisation toward a diet which includes more vegetal materials is associated with significant changes in tongue morphology and function. Histoenzymology demonstrates that protractor and retractor muscles differ in fibre composition. The proportion of fast glycolytic fibres is significantly higher in the M. hyoglossus (retractor muscle) than in the M. genioglossus (protractor muscle), and this difference is proposed to be associated with differences in the velocity of tongue protrusion and retraction (5 ± 5 and 40 ± 13 cm s(-1) , respectively), similar to Chamaeleonidae. This study provides a way to compare fibre-types and composition in all iguanian and scleroglossan lizards that use tongue prehension to catch prey.

Several modern turtles provide good examples of secondary adaptation to marine life. Occupation of an open aquatic environment has required morphological, physiological and behavioural changes driven by natural selection in response to new constraints. Evolution of enhanced aquatic mobility was a major requirement in this evolutionary line. This is evident in the use of the foreflippers as hydrofoils and in the modified coordination of the four limbs that are employed in swimming, but also on land, both in egg laying by females and in running to the surf line by hatchlings. To cope effectively with the environmental demands of diverse marine habitats, sea turtles have developed various life strategies related to differences in their locomotion patterns. These strategies are based on diet, neritic or pelagic life either in shallow waters of the continental shelves or in the surface waters of the open ocean, and the degree to which species engage in energy‐expensive breeding migrations. Differences in turtl...

The aim of this study is to describe the drinking mechanism in two iguanid species, Anolis carolinensis and Oplurus cuvieri. Both live in varied ecological environments where water may be either very abundant or exceedingly scarce. Anolis carolinensis is an arboreal species of the southern United States; in its environment, water is constantly available in drops or small reservoirs. Oplurus cuvieri lives in northwestern Madagascar, enduring very dry and very wet seasons and high insolation. In the dry season, few pools of water or dewdrops remain available. Light and X-ray filming of drinking revealed that the two species almost always use similar mechanisms to introduce water into the buccal cavity. During immersion, the tongue is used to collect water and push it from the front to the back of the buccal cavity. During emersion, water reaches the esophagus, mainly as a result of gravity. In A. carolinensis, this mechanism is used regardless of the amount of water available. In O. cuvieri, the role of the tongue is less important when water is abundant. In similar conditions, therefore, the two species of Iguania use similar mechanisms for collecting and swallowing water. This drinking mechanism has been observed in Lacerta viridis in the sister-group Scleroglossa.

The predatory behavior of rattlesnakes includes many distinctive preparatory phases leading to an extremely rapid strike, during which venom is injected. The rodent prey is then rapidly released, removing the snake’s head from retaliation by the prey. The quick action of the venom makes possible the recovery of the dispatched prey during the ensuing poststrike period. The strike is usually completed in less than 0.5 s, placing a premium on an accurate strike that produces no significant errors in fang placement that could result in poor envenomation and subsequent loss of the prey. To clarify the basis for effective strike performance, we examined the basic kinematics of the rapid strike using high-speed film analysis. We scored numerous strike variables. Four major results were obtained. (1) Neurosensory control of the strike is based primarily upon sensory inputs via the eyes and facial pits to launch the strike, and upon tactile stimuli after contact. Correction for errors in targeting occurs not by a change in strike trajectory, but by fang repositioning after the jaws have made contact with the prey. (2) The rattlesnake strike is based upon great versatility and variation in recruitment of body segments and body postures. (3) Forces generated during acceleration of the head are transferred to posterior body sections to decelerate the head before contact with the prey, thereby reducing impact forces upon the snake’s jaws. (4) Body acceleration is based on two patterns of body displacement, one in which acute sections of the body open like a gate, the other in which body segments flow around postural curves similar to movements seen during locomotion. There is one major implication of these results: recruitment of body segments, launch postures and kinematic features of the strike may be quite varied from strike to strike, but the overall predatory success of each strike by a rattlesnake is very consistent.

Abstract This paper presents a bio-mimetic approach to design and simulate a tortoise-like virtual robot. This study takes a multidisciplinary approach: from in vivo and in vitro experiments on animals, data are collected and used to design, control and simulate a bio-mimetic virtual robot using MD ADAMS platform. From the in vitro experiments, the geometrical and inertial properties of body limbs are measured, and a model of tortoise kinematics is derived. From the in vivo experiments the contact forces between each limb and the ground are measured. The contributions of hind and forelimbs in the generation of propelling and braking forces are studied. The motion of the joints between limb segments are recorded and used to solve the inverse kinematics problem. A virtual model of a tortoise-like robot is built; it is a linkage of 15 rigid bodies articulated by 22 degrees of freedom. This model is referred to as TATOR II. It has the inertial and geometrical properties measured during the in vitro experiments. TATOR II motion is achieved using a Proportional-Derivative controller copying the joint angle trajectories calculated from the in vivo experiments.

From lizards to snakes, the trophic system of squamates exhibits at least six major modifications correlated with different feeding strategies. Beginning in lizards, these include 1) shift from tongue to jaws as the primary means of prey capture, accompanied by specialization of the tongue for chemoreception, and 2) increasing skull kineticism. These features continue into snakes along with 3) unilateral jaw displacement during swallowing accompanied by 4) increasing skull kineticism, 5) development of the cervical vertebrae into a lever system for launching the strike, 6) addition of sensory modalities (thermoreception) in some snakes, and in advanced snakes, 7) shift from mechanical to chemical means of predation. Many fundamental features elaborated into the highly kinematic and jaw-based feeding system of snakes actually appear first within lizards. However, the highly kinetic skull of snakes represents not so much an extrapolation of lizard kinesis, as it does a rebuilding, even redesign, of the skull to achieve its high level of kinesis.

Summary Feeding movements are adjusted in response to food properties, and this flexibility is essential for omnivorous predators as food properties vary routinely. In most lizards, prey capture is no longer considered to solely rely on the movements of the feeding structures (jaws, hyolingual apparatus), but instead is understood to require the integration of the feeding system with the locomotor system (i.e., coordination of movements). Here, we investigate flexibility in the coordination pattern between jaw, neck and forelimb movements in omnivorous varanid lizards feeding on four prey types varying in length and mobility: grasshoppers, live newborn mice, adult mice and dead adult mice. We test for bivariate correlations between 3D locomotor and feeding kinematics, and compare the jaw-neck-forelimb coordination patterns across prey types. Our results reveal that locomotor-feeding integration is essential for the capture of evasive prey, and that different jaw-neck-forelimb coordination patterns are used to capture different prey types. Jaw-neck-forelimb coordination is indeed significantly altered by the length and speed of the prey, indicating that a similar coordination pattern can be finely tuned in response to prey stimuli. These results suggest feed-forward as well as feedback modulation of the control of locomotor-feeding integration. As varanids are considered to be specialized in the capture of evasive prey (although they retain their ability to feed on a wide variety of prey items), flexibility in locomotor-feeding integration in response to prey mobility is proposed to be a key component in their dietary specialization.

Postural and kinematic characteristics of the drinking behaviour in the diamondback turtle, Malaclemys terrapin (Latreille) were investigated by video and high-speed filming experiments. Head, jaw and throat movements in drinking cycles are described. Postures of neck and head were compared for three water depths (2, 10 and 30 mm). Water expulsion, occurring after the turtle was disturbed, is also kinematically described. Finally, a drinking mechanism in the turtle is proposed.

International audience; Hydroxyindole-O-methyltransferase (HIOMT) catalyzes the final step of melatonin biosynthesis and appears to be specifically expressed in the pineal gland and in the retina. This review deals with the regulation of HIOMT by environmental light and with the developmental aspects of HIOMT expression in chicken and rat. Early studies based on HIOMT activity measurements and more recent studies involving cDNA hybridization to HIOMT mRNA are taken into consideration. Together, the data reveal that long term regulation of HIOMT by light would rely on a day/night rhythm of HIOMT gene transcription, coupled to a slow turnover of the protein. Rapid changes in HIOMT mRNA levels and early expression during embryonic development suggest that further studies on this gene may shed light on the molecular mechanisms involved in the differentiation of the melatoninergic function and in its regulation by light, both in the pineal gland and in the retina.

Tetrapods with highly different morphologies occupy ecological niches of the canopy making them ideal for testing the evolution of structures and performances under similar environmental selective pressures. We compared leap up strategies between two distantly related amniote species, Anolis carolinensis (Squamate) and Microcebus murinus (Lemuriform) known to use leaping as their major locomotor mode for predator avoidance. Our comparative analysis and model show that leaping strategies (flat jump trajectory in horizontal leaps, use of forelimbs in landing) are similar in both species. The most striking divergence concerns only the temporal joint sequence accommodation to leaping height, although an identical proximal-to-distal sequence is observed when both taxa leap to maximal height. We suggest a convergent exaptation of leaping biomechanics among arboreal amniotes, which reflects similar biomechanical constraints and evolutionary pressures in these animals.

Detecting and locating prey are key to predatory success within trophic chains. Predators use various signals through specialized visual, olfactory, auditory or tactile sensory systems to pinpoint their prey. Snakes chemically sense their prey through a highly developed auxiliary olfactory sense organ, the vomeronasal organ (VNO). In natricine snakes that are able to feed on land and water, the VNO plays a critical role in predatory behavior by detecting cues, known as vomodors, which are produced by their potential prey. However, the chemical nature of these cues remains unclear. Recently, we demonstrated that specific proteins-parvalbumins-present in the cutaneous mucus of the common frog (Rana temporaria) may be natural chemoattractive proteins for these snakes. Here, we show that parvalbumins and parvalbumin-like proteins, which are mainly intracellular, are physiologically present in the epidermal mucous cells and mucus of several frog and fish genera from both fresh and salt water. These proteins are located in many tissues and function as Ca(2+) buffers. In addition, we clarified the intrinsic role of parvalbumins present in the cutaneous mucus of amphibians and fishes. We demonstrate that these Ca(2+)-binding proteins participate in innate bacterial defense mechanisms by means of calcium chelation. We show that these parvalbumins are chemoattractive for three different thamnophiine snakes, suggesting that these chemicals play a key role in their prey-recognition mechanism. Therefore, we suggest that recognition of parvalbumin-like proteins or other calcium-binding proteins by the VNO could be a generalized prey-recognition process in snakes. Detecting innate prey defense mechanism compounds may have driven the evolution of this predator-prey interaction.

Import JabRef | WosArea Zoology; International audience; Among primates, apes and monkeys are known to use their hands and to exhibit independent control of their fingers. In comparison, Prosimii are thought to have less digital individualization and to use their mouth more commonly for prehension. Unfortunately, prehension and manipulation studies in Prosimii have been conducted in conditions constraining the subject to grasp with the hand. Moreover, the effect of food size remains unexplored, even though it could affect the use of the hands versus the mouth. Thus, whether prosimians use the hand or the mouth to grasp and manipulate food items of different sizes in unconstrained conditions remains unclear. To address this question, we characterized the eating and manipulation patterns of Microcebus murinus in unconstrained conditions, using three food sizes. The results showed that M. murinus showed (i) an eating pattern similar to that of rodents, with smaller food items being grasped with the mouth, (ii) a greater tendency to use the hands for prehension of larger foods, and (iii) plasticity during food manipulation similar to that which has been observed in rodents. These results are discussed in the framework of grasping in mammals and are used to discuss the origins of prehension in primates. Copyright (C) 2011 S. Karger AG, Basel

Chamaeleons are well known for their unique suite of morphological adaptations. Whereas most chamaeleons are arboreal and have long tails, which are used during arboreal acrobatic manoeuvres, Malagasy dwarf chamaeleons (Brookesia) are small terrestrial lizards with relatively short tails. Like other chamaeleons,Brookesiahave grasping feet and use these to hold on to narrow substrates. However, in contrast to other chamaeleons,Brookesiaplace the tail on the substrate when walking on broad substrates, thus improving stability. Using three-dimensional synchrotron X-ray phase-contrast imaging, we demonstrate a set of unique specializations in the tail associated with the use of the tail during locomotion. Additionally, our imaging demonstrates specializations of the inner ear that may allow these animals to detect small accelerations typical of their slow, terrestrial mode of locomotion. These data suggest that the evolution of a terrestrial lifestyle inBrookesiahas gone hand-in-hand with the evolution of a unique mode of locomotion and a suite of morphological adaptations allowing for stable locomotion on a wide array of substrates.

International audience; Feeding behavior is known to be modulated as prey properties change. During prey capture, external prey properties, including size and mobility, are likely some of the most important components in predator–prey interactions. Whereas prey size has been demonstrated to elicit modulation of jaw movements during capture, how prey speed affects the approach and capture of prey remains unknown. We quantified the kinematics associated with movements of both the feeding and locomotor systems during prey capture in a lizard, Gerrhosaurus major, while facing prey differing in size and mobility (newborn mice, grasshoppers, and mealworms). Our data show that the feeding and locomotor systems were recruited differently in response to changes in the size or speed of the prey. The timing of jaw movements and of the positioning of the head are affected by changes in prey size—and speed, to a lesser extent. Changes in prey speed resulted in concomitant changes in the speed of strike and an early and greater elevation of the neck. External prey properties, and prey mobility in particular, are relevant in predator–prey interactions and elicit specific responses in different functional systems.

International audience; We showed that Folsomia candida (a blind soil-dwelling Collembola) was able to shift from non-directional (random or search strategy) to directional (target-oriented) movements at short distance of food. We measured departure from linearity and access (or not) to food by the springtail according to distance to the target position. Video-records and image analysis were used to obtain numerical data at 0.2 s interval. The probability of food capture within 10 min (maximum duration of the experiment) was negatively related to distance. Two patterns can be observed along successful trajectories in our experimental conditions (22 degrees C, ambient light, still air), non-directional movement being followed by directional movement when the animals approach food at 25 mm.

SUMMARYThe purpose of this study was to investigate the pattern of coordinations of the hindlimb joints in the world's smallest living primate (Microcebus murinus). The sequencing and timing of joint rotations have been analyzed in five adult males performing maximal leaping from a take-off immobile platform to their own wooden nest. Angular kinematics of hip, knee, angle and metatarso-phalangeal (MT) joints were deduced from high-speed X-ray films in the sagittal plane of the animals. The body mass center (BMC) of the lemurs was assimilated to their iliac crest. The maximal airborne performance of the lemurs was 0.33±0.04 m, which represented 2.55±0.36 times their snout–vent length. Take-off instant occurred 72±7 ms after the start of the push-off, with a BMC velocity of 3.23±0.48 m s−1, oriented 55±14 deg. with the horizontal plane. The kinematic analysis of the joints and musculo-tendon architecture of the M. murinus plantar flexors pointed out mechanical power amplifier mechanisms (i.e. stretch-shortening cycle of hindlimb muscles and proximo-to-distal sequence).

The degree of task complexity and bimanual complementarity have been proposed as factors affecting lateralization strength in humans. However, a large number of studies have demonstrated group-level lateral hand bias for different manual activities in numerous non-human primate species. However, no study has tested the effects that a variety of tasks may have in inducing differences in hand preference. Here, we aim to test if 3 adult gorillas exhibited a greater hand preference bias performing 4 tasks of varying complexity: grasping small versus large foods, proto-tool use task and tool use task involving greater visuospatial requirements. We found that (1) the complexity of the task does not necessarily induce a right-handed bias and (2) a subject can be right-handed for a complex task and left-handed for another one. These results, complemented by many publications on hand preference in non-human primates, reveal a great variability in hand preference, which makes it very difficult to deduce any details of hominin handedness with artefacts.

High-speed cinematography (100 frames/s) was used to allow quantitative analysis of the kinematic profiles of tongue and jaw displacements during chemosensory activities in the scleroglossan lizard Lacerta viridis. The types of tongue flicking were simple downward extensions (SDE), single oscillations (SOC), and submultiple oscillations (SMOC) of the tongue out of the mouth. The SMOC type involves a downward or upward movement of the tongue performed before a typical oscillation and it is therefore suggested that this is an intermediate category of flick between the typical SOC and MOC of lizards. Closing and opening of the mouth in SDE, SOC, and SMOC cycles may or may not be separated by a stationary stage during which the jaws are held open at a constant gape. The duration of this stationary interval increases from SDE to SMOC. Gape cycles do not show any division into slow and fast stages. The gape is produced largely by depression of the lower jaw; the upper jaw is slightly elevated by protrusion of the tongue. Patterns of correlation of kinematic variables depicting jaw and tongue movements differed between SDE, SOC, and SMOC. A principal component analysis shows that the three flick types overlap in a multivariate space constructed from the kinematic variables depicting jaw and tongue displacements. Overlap between SOC and SMOC categories is greater than that between SOC, SMOC, and SDE categories. The kinematic patterns of tongue displacement during SMOC in Lacerta viridis show similarities with those of MOC in other lizards and in snakes. Kinematically, the pattern of jaw and tongue displacements of Lacerta viridis during chemosensory activities shows similarities with those that occur during drinking and prey capture.