Analyzing dynamics of arthropod walking

The application of dynamic analysis and design system (DADS) software to dynamics of arthropod walking is discussed. Darkling beetles were used as subjects, a dead beetle for description of leg kinematics and a live beetle to describe motion during walking. Joint torques were determined by using DADS inverse dynamic analysis. The beetle body was assumed to be immobile with its legs not contacting the substrate. Advantages of DADS include speed of processing data and ease of changing motion descriptions for different gaits. DADS cannot easily model changes in connectivity of the mechanism, e.g. lifting a foot from the substrate. Either state, foot on or foot off the substrate, can be analyzed using DADS; only transitions cause difficulty.<>