Tail use improves soft substrate performance in models of early vertebrate land locomotors

Tail use improves soft substrate performance in models of early vertebrate land locomotors McInroe, Benjamin; Astley, Henry C.; Gong, Chaohui; Kawano, Sandy M.; Schiebel, Perrin E.; Rieser, Jennifer M.; Choset, Howie; Blob, Richard W.; Goldman, Daniel I. In the evolutionary transition from an aquatic to a terrestrial environment, ancient vertebrates (e.g. early tetrapods) faced the challenges of terrestrial locomotion on flowable substrates (e.g. sand and mud) of variable stiffness and incline. While morphology and ranges of motion of appendages can be revealed in fossils, biological and robophysical studies of modern taxa demonstrate that movement on such substrates can be sensitive to small changes in appendage use. Using a biological model (the mudskipper), a physical model (a robot), granular drag measurements, and theoretical tools from geometric mechanics, we demonstrate how tail use can improve robustness to variable limb use and substrate conditions. We hypothesize that properly coordinated tail movements may have provided a substantial benefit for the earliest vertebrates to move on land. Complete data and programs for the paper title above. Includes mudskipper data, robot control program, data and solidworks files, and simulation programs. Instructions are given in the appropriate subfolders of the data, and programs are commented.

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