The robotic approach to the passive interlocking mechanism in the hindlimb musculoskeletal system of <i>Crocodylus porosus</i>
Bibliographic record
Abstract
Efficient locomotion in terrestrial vertebrates relies on intra-limb coordination that emerges through interaction with the environment and passive interlocking of the musculoskeletal system. These structures have been well investigated in some mammals and birds, but the presence of similar structures in other terrestrial vertebrates has been under appreciated. This study addresses the functionality of the passive interlocking system in reptilian hindlimb locomotion by dissecting Crocodylus porosus and constructing a robot. Based on the dissection, we hypothesized that the passive interlocking mechanism consisted of multiple muscles to maintain the semi-erect limb posture and support its weight. The mechanism is provided by the caudifemoralis longus muscle, along with its tendon and the gastrocnemius externus, acting as a passive element that interacts with the ground reaction force. Accordingly, the feasibility of the interlocking function was demonstrated by a robot implementing the hindlimb and pelvic musculoskeletal system of crocodilians. This study provides new insights into the locomotion mechanism of crocodilians and emphasizes the importance of passive interlocking in efficient locomotion in terrestrial vertebrates. The findings could have implications for developing biomimetic robots and understanding the evolution of terrestrial locomotion in vertebrates.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.003 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.002 | 0.003 |
| Science and technology studies | 0.001 | 0.000 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.002 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.038 | 0.023 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".