RESUMO
BACKGROUND: The mechanics and energetics of spider locomotion have not been deeply investigated, despite their importance in the life of a spider. For example, the reproductive success of males of several species is dependent upon their ability to move from one area to another. The aim of this work was to describe gait patterns and analyze the gait parameters of Eupalaestrus weijenberghi (Araneae, Theraphosidae) in order to investigate the mechanics of their locomotion and the mechanisms by which they conserve energy while traversing different inclinations and surfaces. METHODS: Tarantulas were collected and marked for kinematic analysis. Free displacements, both level and on an incline, were recorded using glass and Teflon as experimental surfaces. Body segments of the experimental animals were measured, weighed, and their center of mass was experimentally determined. Through reconstruction of the trajectories of the body segments, we were able to estimate their internal and external mechanical work and analyze their gait patterns. RESULTS: Spiders mainly employed a walk-trot gait. Significant differences between the first two pairs and the second two pairs were detected. No significant differences were detected regarding the different planes or surfaces with respect to duty factor, time lags, stride frequency, and stride length. However, postural changes were observed on slippery surfaces. The mechanical work required for traversing a level plane was lower than expected. In all conditions, the external work, and within it the vertical work, accounted for almost all of the total mechanical work. The internal work was extremely low and did not rise as the gradient increased. DISCUSSION: Our results support the idea of considering the eight limbs functionally divided into two quadrupeds in series. The anterior was composed of the first two pairs of limbs, which have an explorative and steering purpose and the posterior was more involved in supporting the weight of the body. The mechanical work to move one unit of mass a unit distance is almost constant among the different species tested. However, spiders showed lower values than expected. Minimizing the mechanical work could help to limit metabolic energy expenditure that, in small animals, is relatively very high. However, energy recovery due to inverted pendulum mechanics only accounts for only a small fraction of the energy saved. Adhesive setae present in the tarsal, scopulae, and claw tufts could contribute in different ways during different moments of the step cycle, compensating for part of the energetic cost on gradients which could also help to maintain constant gait parameters.
RESUMO
Despite the abundance of octapodal species and their evolutionary importance in originating terrestrial locomotion, the locomotion mechanics of spiders has received little attention so far. In this investigation we use inverse dynamics to study the locomotor performance of Grammostola mollicoma (18 g). Through 3-D kinematic measurements, the trajectory of the eight limbs and cephalothorax or abdomen allowed us to estimate the motion of the body centre of mass (COM) at different speeds. Classic mechanics of locomotion and multivariate analysis of several variables such as stride length and frequency, duty factor, mechanical external work and energy recovery, helped to identify two main gaits, a slow (speed <11 cm s(-1)) one and a fast one characterised by distinctive 3-D trajectories of COM. The total mechanical work (external + internal) calculated in the present study and metabolic data from the literature allowed us to estimate the locomotion efficiency of this species, which was less than 4%. Gait pattern due to alternating limb support, which generates asymmetrical COM trajectories and a small but consistent energy transfer between potential and kinetic energies of COM, is discussed both in terms of coordination indices and by referring to the octopod as formed by two quadrupeds in series. Analogies and differences of the newly obtained parameters with the allometric data and predictions are also illustrated.
