Workspace of Beetle Body As a Function of Foot Position

Abstract Body workspace with foot positions fixed was examined for 16 sets of foot positions at 3 body heights using a simulation model of a darkling beetle. Body orientation was held constant and all foot positions were symmetrical about the bilateral symmetry plane. Horizontal plane sections of body workspace were plotted. Maximum body workspace areas were nearly always at the observed normal resting height of the beetle. Maximum body workspace areas occurred with feet in the relative positions they have when near the centers of their respective workspaces. Changing positions of front and hind feet had much more influence on shape and area of body workspace than changing positions of middle feet. Conclusions from this study raise important considerations for the design of walking machines.