Kinematic Modeling at the Ant Scale: Propagation of Model Parameter Uncertainties
Quadrupeds and hexapods are known by their ability to adapt their locomotive patterns to their functions in the environment. Computational modeling of animal movement can help to better understand the emergence of locomotive patterns and their body dynamics. Although considerable progress has been m...
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| Format: | Article |
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Frontiers Media S.A.
2022-03-01
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| Series: | Frontiers in Bioengineering and Biotechnology |
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| Online Access: | https://www.frontiersin.org/articles/10.3389/fbioe.2022.767914/full |
| _version_ | 1818487958977642496 |
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| author | Santiago Arroyave-Tobon Jordan Drapin Anton Kaniewski Jean-Marc Linares Pierre Moretto |
| author_facet | Santiago Arroyave-Tobon Jordan Drapin Anton Kaniewski Jean-Marc Linares Pierre Moretto |
| author_sort | Santiago Arroyave-Tobon |
| collection | DOAJ |
| description | Quadrupeds and hexapods are known by their ability to adapt their locomotive patterns to their functions in the environment. Computational modeling of animal movement can help to better understand the emergence of locomotive patterns and their body dynamics. Although considerable progress has been made in this subject in recent years, the strengths and limitations of kinematic simulations at the scale of small moving animals are not well understood. In response to this, this work evaluated the effects of modeling uncertainties on kinematic simulations at small scale. In order to do so, a multibody model of a Messor barbarus ant was developed. The model was built from 3D scans coming from X-ray micro-computed tomography. Joint geometrical parameters were estimated from the articular surfaces of the exoskeleton. Kinematic data of a free walking ant was acquired using high-speed synchronized video cameras. Spatial coordinates of 49 virtual markers were used to run inverse kinematics simulations using the OpenSim software. The sensitivity of the model’s predictions to joint geometrical parameters and marker position uncertainties was evaluated by means of two Monte Carlo simulations. The developed model was four times more sensitive to perturbations on marker position than those of the joint geometrical parameters. These results are of interest for locomotion studies of small quadrupeds, octopods, and other multi-legged animals. |
| first_indexed | 2024-12-10T16:44:57Z |
| format | Article |
| id | doaj.art-0ed8b0195ab54377b8cc7ca15e62a50d |
| institution | Directory Open Access Journal |
| issn | 2296-4185 |
| language | English |
| last_indexed | 2024-12-10T16:44:57Z |
| publishDate | 2022-03-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Bioengineering and Biotechnology |
| spelling | doaj.art-0ed8b0195ab54377b8cc7ca15e62a50d2022-12-22T01:41:05ZengFrontiers Media S.A.Frontiers in Bioengineering and Biotechnology2296-41852022-03-011010.3389/fbioe.2022.767914767914Kinematic Modeling at the Ant Scale: Propagation of Model Parameter UncertaintiesSantiago Arroyave-Tobon0Jordan Drapin1Anton Kaniewski2Jean-Marc Linares3Pierre Moretto4Institut Des Sciences Du Mouvement, Faculté Des Sciences Du Sport, Aix-Marseille Université, CNRS, Marseille, FranceCentre de Recherches sur la Cognition Animale (CRCA), Centre de Biologie Intégrative (CBI), Université de Toulouse, CNRS, UPS, Toulouse, FranceInstitut Des Sciences Du Mouvement, Faculté Des Sciences Du Sport, Aix-Marseille Université, CNRS, Marseille, FranceInstitut Des Sciences Du Mouvement, Faculté Des Sciences Du Sport, Aix-Marseille Université, CNRS, Marseille, FranceCentre de Recherches sur la Cognition Animale (CRCA), Centre de Biologie Intégrative (CBI), Université de Toulouse, CNRS, UPS, Toulouse, FranceQuadrupeds and hexapods are known by their ability to adapt their locomotive patterns to their functions in the environment. Computational modeling of animal movement can help to better understand the emergence of locomotive patterns and their body dynamics. Although considerable progress has been made in this subject in recent years, the strengths and limitations of kinematic simulations at the scale of small moving animals are not well understood. In response to this, this work evaluated the effects of modeling uncertainties on kinematic simulations at small scale. In order to do so, a multibody model of a Messor barbarus ant was developed. The model was built from 3D scans coming from X-ray micro-computed tomography. Joint geometrical parameters were estimated from the articular surfaces of the exoskeleton. Kinematic data of a free walking ant was acquired using high-speed synchronized video cameras. Spatial coordinates of 49 virtual markers were used to run inverse kinematics simulations using the OpenSim software. The sensitivity of the model’s predictions to joint geometrical parameters and marker position uncertainties was evaluated by means of two Monte Carlo simulations. The developed model was four times more sensitive to perturbations on marker position than those of the joint geometrical parameters. These results are of interest for locomotion studies of small quadrupeds, octopods, and other multi-legged animals.https://www.frontiersin.org/articles/10.3389/fbioe.2022.767914/fullmultibodyinverse kinematicsantmotion captureuncertainty |
| spellingShingle | Santiago Arroyave-Tobon Jordan Drapin Anton Kaniewski Jean-Marc Linares Pierre Moretto Kinematic Modeling at the Ant Scale: Propagation of Model Parameter Uncertainties Frontiers in Bioengineering and Biotechnology multibody inverse kinematics ant motion capture uncertainty |
| title | Kinematic Modeling at the Ant Scale: Propagation of Model Parameter Uncertainties |
| title_full | Kinematic Modeling at the Ant Scale: Propagation of Model Parameter Uncertainties |
| title_fullStr | Kinematic Modeling at the Ant Scale: Propagation of Model Parameter Uncertainties |
| title_full_unstemmed | Kinematic Modeling at the Ant Scale: Propagation of Model Parameter Uncertainties |
| title_short | Kinematic Modeling at the Ant Scale: Propagation of Model Parameter Uncertainties |
| title_sort | kinematic modeling at the ant scale propagation of model parameter uncertainties |
| topic | multibody inverse kinematics ant motion capture uncertainty |
| url | https://www.frontiersin.org/articles/10.3389/fbioe.2022.767914/full |
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