1. Lecture 1: Overview on Animal Locomotion

2. Control systems are closely coupled = (controller) (plant) Feedforward Control

3. Control systems are closely coupled =

5. Feedback Control

6. Forcing the issue ground reaction force exerted by leg ground reaction force shortening body

7. Force sensor Forcing the issue Ground reaction forces vary with time.

8. Forcing the issue

9. = =

12. Leaving the straight and narrow

15. Muscles are more than motors

16. sarcomere Muscles are more than motors

17. strain stress strain (  length /length) stress (force /area) stim extensor flexor 3) measure force 2) stimulate In phase 1) oscillate muscle Muscles are more than motors activate here

18. strain stress slope = stiffness changing activation phase Muscle do not have to work as motors to function. Muscles are more than motors

21. Physeter macrocephalus (Sperm Whale) largest toothed whale 20 meters long 50,000 Kilograms 70 year lifespan pan-global distribution 200,000 population

25. Central Nervous System

26. Central Pattern Generator motor nerve sensory nerve dorsal ventral

27. Musculoskeletal System

28. sarcomere Musculoskeletal System

29. myosin power stroke = 10 x 10 -9 M whale length = 60 M ~10 10 ratio Musculoskeletal System

32. myoglobin

33. Musculoskeletal System

34. Indohyus, 48 mya Musculoskeletal System

37. Hydrodynamic Force Velocity, U Force = ½ C S U 2  C = force coefficient of fluke S = Surface area of fluke U = velocity  = density of sea water Hydrodynamics

38. path of fluke thrust +lift thrust -lift Hydrodynamics thrust +lift

39. Emits sound at 230 decibels! Sensory Systems

40. Can dive to 3 Kilometers Higher Order Locomotion

45. Lecture 1: Overview on Animal Locomotion