Remarkable similarities in the vertical plane of forward motion exist among diverse legged runners. The effect of differences in posture may be reflected instead in maneuverability occurring in the horizontal plane. The maneuver we selected was turning during rapid running by the cockroach Blaberus discoidalis, a sprawled-postured arthropod. Executing a turn successfully involves at least two requirements. The animal's mean heading (the direction of the mean velocity vector of the center of mass) must be deflected, and the animal's body must rotate to keep the body axis aligned with the heading. We used two-dimensional kinematics to estimate net forces and rotational torques, and a photoelastic technique to estimate single-leg ground-reaction forces during turning. Stride frequencies and duty factors did not differ among legs during turning. The inside legs ended their steps closer to the body than during straight-ahead running, suggesting that they contributed to turning the body. However, the inside legs did not contribute forces or torques to turning the body, but actively pushed against the turn. Legs farther from the center of rotation on the outside of the turn contributed the majority of force and torque impulse which caused the body to turn. The dynamics of turning could not be predicted from kinematic measurements alone. To interpret the single-leg forces observed during turning, we have developed a general model that relates leg force production and leg position to turning performance. The model predicts that all legs could turn the body. Front legs can contribute most effectively to turning by producing forces nearly perpendicular to the heading, whereas middle and hind legs must produce additional force parallel to the heading. The force production necessary to turn required only minor alterations in the force hexapods generate during dynamically stable, straight-ahead locomotion. A consideration of maneuverability in the horizontal plane revealed that a sprawled-postured, hexapodal body design may provide exceptional performance with simplified control.
Many-legged maneuverability: dynamics of turning in hexapods
D.L. Jindrich, R.J. Full; Many-legged maneuverability: dynamics of turning in hexapods. J Exp Biol 15 June 1999; 202 (12): 1603–1623. doi: https://doi.org/10.1242/jeb.202.12.1603
Download citation file:
Advertisement
Cited by
Celebrating 100 years of discovery

We are proud to be celebrating 100 years of discovery in Journal of Experimental Biology. Visit our centenary webpage to find out more about how we are marking this historic milestone.
Craig Franklin launches our centenary celebrations

Editor-in-Chief Craig Franklin reflects on 100 years of JEB and looks forward to our centenary celebrations, including a supplementary special issue, a new early-career researcher interview series and the launch of our latest funding initiatives.
Looking back on the first issue of JEB

Journal of Experimental Biology launched in 1923 as The British Journal of Experimental Biology. As we celebrate our centenary, we look back at that first issue and the zoologists publishing their work in the new journal.
Webinar: Increasing the visibility and impact of your research
-HUBSwebinar.jpg?versionId=4510)
Would you like to increase the visibility and impact of your research and raise your profile internationally? If so, register for the very practical webinar we are running in association with HUBS on 23 February 2023.
Biology Communication Workshop: Engaging the world in the excitement of research
-BioCommunicationWorkshop.png?versionId=4510)
We are delighted to be sponsoring a Biology Communication Workshop for early-career researchers as part of JEB’s centenary celebrations. The workshop focuses on how to effectively communicate your science to other researchers and the public and takes place the day before the CSZ annual meeting, on 14 May 2023. Find out more and apply here.
Mexican fruit flies wave for distraction

Dinesh Rao and colleagues have discovered that Mexican fruit flies vanish in a blur in the eyes of predatory spiders when they wave their wings at the arachnids, buying the flies time to make their escape.