{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,30]],"date-time":"2026-09-30T11:04:13Z","timestamp":1790766253658,"version":"4.1.0"},"reference-count":48,"publisher":"Springer Science and Business Media LLC","issue":"7739","license":[{"start":{"date-parts":[[2019,1,1]],"date-time":"2019-01-01T00:00:00Z","timestamp":1546300800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Nature"],"published-print":{"date-parts":[[2019,1]]},"DOI":"10.1038\/s41586-018-0851-2","type":"journal-article","created":{"date-parts":[[2019,1,11]],"date-time":"2019-01-11T11:16:14Z","timestamp":1547205374000},"page":"351-355","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":210,"title":["Reverse-engineering the locomotion of a stem amniote"],"prefix":"10.1038","volume":"565","author":[{"given":"John A.","family":"Nyakatura","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kamilo","family":"Melo","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tomislav","family":"Horvat","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kostas","family":"Karakasiliotis","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Vivian R.","family":"Allen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Amir","family":"Andikfar","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Emanuel","family":"Andrada","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Patrick","family":"Arnold","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jonas","family":"Laustr\u00f6er","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"John R.","family":"Hutchinson","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Martin S.","family":"Fischer","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Auke J.","family":"Ijspeert","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2019,1,16]]},"reference":[{"key":"851_CR1","doi-asserted-by":"publisher","first-page":"14","DOI":"10.1666\/0094-8373(2001)027<0014:EOHPIN>2.0.CO;2","volume":"27","author":"RW Blob","year":"2001","unstructured":"Blob, R. W. Evolution of hindlimb posture in nonmammalian therapsids: biomechanical tests of paleontological hypotheses. Paleobiology 27, 14\u201338 (2001).","journal-title":"Paleobiology"},{"key":"851_CR2","doi-asserted-by":"publisher","first-page":"154","DOI":"10.1126\/science.aaf0984","volume":"353","author":"B McInroe","year":"2016","unstructured":"McInroe, B. et al. Tail use improves performance on soft substrates in models of early vertebrate land locomotors. Science 353, 154\u2013158 (2016).","journal-title":"Science"},{"key":"851_CR3","doi-asserted-by":"publisher","first-page":"429","DOI":"10.1666\/0094-8373(2003)029<0429:LTIEWE>2.0.CO;2","volume":"29","author":"PD Gingerich","year":"2003","unstructured":"Gingerich, P. D. Land-to-sea transition in early whales: evolution of Eocene Archaeoceti (Cetacea) in relation to skeletal proportions and locomotion of living semiaquatic mammals. Paleobiology 29, 429\u2013454 (2003).","journal-title":"Paleobiology"},{"key":"851_CR4","doi-asserted-by":"publisher","first-page":"523","DOI":"10.1038\/nature11124","volume":"486","author":"SE Pierce","year":"2012","unstructured":"Pierce, S. E., Clack, J. A. & Hutchinson, J. R. Three-dimensional limb joint mobility in the early tetrapod Ichthyostega. Nature 486, 523\u2013526 (2012).","journal-title":"Nature"},{"key":"851_CR5","unstructured":"Lauder, G. V. in Functional Morphology in Vertebrate Paleontology (ed. Thomason, J. J.) 1\u201318 (Cambridge Univ. Press, Cambridge, 1995)."},{"key":"851_CR6","doi-asserted-by":"publisher","first-page":"1827","DOI":"10.1111\/j.1558-5646.2011.01289.x","volume":"65","author":"JB Losos","year":"2011","unstructured":"Losos, J. B. Convergence, adaptation, and constraint. Evolution 65, 1827\u20131840 (2011).","journal-title":"Evolution"},{"key":"851_CR7","first-page":"586","volume":"41","author":"SS Sumida","year":"2001","unstructured":"Sumida, S. S. & Modesto, S. A phylogenetic perspective on locomotory strategies in early amniotes. Am. Zool. 41, 586\u2013597 (2001).","journal-title":"Am. Zool."},{"key":"851_CR8","doi-asserted-by":"publisher","first-page":"553","DOI":"10.1671\/0272-4634(2007)27[553:FWTAOP]2.0.CO;2","volume":"27","author":"S Voigt","year":"2007","unstructured":"Voigt, S., Berman, D. S. & Henrici, A. C. First well-established track\u2013trackmaker association of Paleozoic tetrapods based on Ichniotherium trackways and diadectid skeletons from the Lower Permian of Germany. J. Vertebr. Paleontol. 27, 553\u2013570 (2007).","journal-title":"J. Vertebr. Paleontol."},{"key":"851_CR9","doi-asserted-by":"publisher","first-page":"283","DOI":"10.1093\/icb\/ict051","volume":"53","author":"SM Kawano","year":"2013","unstructured":"Kawano, S. M. & Blob, R. W. Propulsive forces of mudskipper fins and salamander limbs during terrestrial locomotion: implications for the invasion of land. Integr. Comp. Biol. 53, 283\u2013294 (2013).","journal-title":"Integr. Comp. Biol."},{"key":"851_CR10","doi-asserted-by":"publisher","first-page":"1048","DOI":"10.1016\/j.jbiomech.2006.04.010","volume":"40","author":"G Nicolas","year":"2007","unstructured":"Nicolas, G., Multon, F., Berillon, G. & Marchal, F. From bone to plausible bipedal locomotion using inverse kinematics. J. Biomech. 40, 1048\u20131057 (2007).","journal-title":"J. Biomech."},{"key":"851_CR11","doi-asserted-by":"publisher","first-page":"535","DOI":"10.1671\/039.029.0213","volume":"29","author":"SM Gatesy","year":"2009","unstructured":"Gatesy, S. M., B\u00e4ker, M. & Hutchinson, J. R. Constraint-based exclusion of limb poses for reconstructing theropod dinosaur locomotion. J. Vertebr. Paleontol. 29, 535\u2013544 (2009).","journal-title":"J. Vertebr. Paleontol."},{"key":"851_CR12","doi-asserted-by":"crossref","first-page":"3325","DOI":"10.1242\/jeb.202.23.3325","volume":"202","author":"RJ Full","year":"1999","unstructured":"Full, R. J. & Koditschek, D. E. Templates and anchors: neuromechanical hypotheses of legged locomotion on land. J. Exp. Biol. 202, 3325\u20133332 (1999).","journal-title":"J. Exp. Biol."},{"key":"851_CR13","first-page":"11A","volume":"12","author":"WI Sellers","year":"2009","unstructured":"Sellers, W. I., Manning, P. L., Lyson, T., Stevens, K. & Margetts, L. Virtual palaeontology: gait reconstruction of extinct vertebrates using high performance computing. Palaeontol. Electronica 12, 11A (2009).","journal-title":"Palaeontol. Electronica"},{"key":"851_CR14","unstructured":"Stevens, K. A., Ernst, S. & Marty, D. in Dinosaur Tracks: The Next Steps (eds Falkingham, P. L. et al.) 227\u2013243 (Indiana Univ. Press, Bloomington, 2016)."},{"key":"851_CR15","doi-asserted-by":"publisher","first-page":"1","DOI":"10.2992\/0145-9058(2004)35[1:ANDDOP]2.0.CO;2","volume":"35","author":"DS Berman","year":"2004","unstructured":"Berman, D. S., Henrici, A. C., Kissel, R. A., Sumida, S. S. & Martens, T. A new diadectid (Diadectomorpha), Orobates pabsti, from the Early Permian of central Germany. Bull. Carnegie Mus. Nat. Hist.\u00a035, 1\u201336 (2004).","journal-title":"Bull. Carnegie Mus. of Nat. Hist."},{"key":"851_CR16","doi-asserted-by":"publisher","first-page":"172","DOI":"10.1666\/0022-3360(2003)077<0172:HOTAAS>2.0.CO;2","volume":"77","author":"DS Berman","year":"2003","unstructured":"Berman, D. S. & Henrici, A. C. Homology of the astragalus and structure and function of the tarsus of Diadectidae. J. Paleontol. 77, 172\u2013188 (2003).","journal-title":"J. Paleontol."},{"key":"851_CR17","doi-asserted-by":"publisher","first-page":"e0137284","DOI":"10.1371\/journal.pone.0137284","volume":"10","author":"JA Nyakatura","year":"2015","unstructured":"Nyakatura, J. A. et al. A three-dimensional skeletal reconstruction of the stem amniote Orobates pabsti (Diadectidae): analyses of body mass, centre of mass position, and joint mobility. PLoS ONE 10, e0137284 (2015).","journal-title":"PLoS ONE"},{"key":"851_CR18","doi-asserted-by":"crossref","unstructured":"Edwards, J. L. in Major Patterns in Vertebrate Evolution (eds Hecht, M. K. et al.) 553\u2013577 (Springer, Boston, 1977).","DOI":"10.1007\/978-1-4684-8851-7_20"},{"key":"851_CR19","doi-asserted-by":"crossref","first-page":"255","DOI":"10.1242\/jeb.193.1.255","volume":"193","author":"M Ashley-Ross","year":"1994","unstructured":"Ashley-Ross, M. Hindlimb kinematics during terrestrial locomotion in a salamander (Dicamptodon tenebrosus). J. Exp. Biol. 193, 255\u2013283 (1994).","journal-title":"J. Exp. Biol."},{"key":"851_CR20","unstructured":"Witmer, L. M. in Functional Morphology in Vertebrate Paleontology (ed. Thomason, J. J.) 19\u201333 (Cambridge Univ. Press, Cambridge, 1995)."},{"key":"851_CR21","doi-asserted-by":"publisher","first-page":"165","DOI":"10.1111\/j.1096-3642.1995.tb00932.x","volume":"113","author":"M Laurin","year":"1995","unstructured":"Laurin, M. & Reisz, R. R. A reevaluation of early amniote phylogeny. Zool. J. Linn. Soc. 113, 165\u2013223 (1995).","journal-title":"Zool. J. Linn. Soc."},{"key":"851_CR22","doi-asserted-by":"publisher","first-page":"3889","DOI":"10.1242\/jeb.020578","volume":"211","author":"DC Dunbar","year":"2008","unstructured":"Dunbar, D. C., Macpherson, J. M., Simmons, R. W. & Zarcades, A. Stabilization and mobility of the head, neck and trunk in horses during overground locomotion: comparisons with humans and other primates. J. Exp. Biol. 211, 3889\u20133907 (2008).","journal-title":"J. Exp. Biol."},{"key":"851_CR23","doi-asserted-by":"publisher","first-page":"20151089","DOI":"10.1098\/rsif.2015.1089","volume":"13","author":"K Karakasiliotis","year":"2016","unstructured":"Karakasiliotis, K. et al. From cineradiography to biorobots: an approach for designing robots to emulate and study animal locomotion. J. R. Soc. Interface 13, 20151089 (2016).","journal-title":"J. R. Soc. Interface"},{"key":"851_CR24","doi-asserted-by":"publisher","first-page":"104","DOI":"10.1016\/j.zool.2010.11.003","volume":"114","author":"PO Fuller","year":"2011","unstructured":"Fuller, P. O., Higham, T. E. & Clark, A. J. Posture, speed, and habitat structure: three-dimensional hindlimb kinematics of two species of padless geckos. Zoology 114, 104\u2013112 (2011).","journal-title":"Zoology"},{"key":"851_CR25","doi-asserted-by":"publisher","first-page":"993","DOI":"10.1242\/jeb.01473","volume":"208","author":"SM Reilly","year":"2005","unstructured":"Reilly, S. M., Willey, J. S., Biknevicius, A. R. & Blob, R. W. Hindlimb function in the alligator: integrating movements, motor patterns, ground reaction forces and bone strain of terrestrial locomotion. J. Exp. Biol. 208, 993\u20131009 (2005).","journal-title":"J. Exp. Biol."},{"key":"851_CR26","doi-asserted-by":"crossref","first-page":"1099","DOI":"10.1242\/jeb.204.6.1099","volume":"204","author":"RW Blob","year":"2001","unstructured":"Blob, R. W. & Biewener, A. A. Mechanics of limb bone loading during terrestrial locomotion in the green iguana (Iguana iguana) and American alligator (Alligator mississippiensis). J. Exp. Biol. 204, 1099\u20131122 (2001).","journal-title":"J. Exp. Biol."},{"key":"851_CR27","doi-asserted-by":"publisher","first-page":"e2131","DOI":"10.7717\/peerj.2131","volume":"4","author":"DK Riskin","year":"2016","unstructured":"Riskin, D. K., Kendall, C. J. & Hermanson, J. W. The crouching of the shrew: mechanical consequences of limb posture in small mammals. PeerJ 4, e2131 (2016).","journal-title":"PeerJ"},{"key":"851_CR28","doi-asserted-by":"publisher","first-page":"67","DOI":"10.1016\/j.zool.2009.07.001","volume":"113","author":"MS Fischer","year":"2010","unstructured":"Fischer, M. S., Krause, C. & Lilje, K. E. Evolution of chameleon locomotion, or how to become arboreal as a reptile. Zoology 113, 67\u201374 (2010).","journal-title":"Zoology"},{"key":"851_CR29","doi-asserted-by":"publisher","first-page":"4278","DOI":"10.1242\/jeb.047647","volume":"213","author":"JA Nyakatura","year":"2010","unstructured":"Nyakatura, J. A. & Fischer, M. S. Functional morphology and three-dimensional kinematics of the thoraco-lumbar region of the spine of the two-toed sloth. J. Exp. Biol. 213, 4278\u20134290 (2010).","journal-title":"J. Exp. Biol."},{"key":"851_CR30","doi-asserted-by":"publisher","first-page":"3906","DOI":"10.1242\/jeb.085399","volume":"216","author":"E Andrada","year":"2013","unstructured":"Andrada, E., Nyakatura, J. A., Bergmann, F. & Blickhan, R. Adjustments of global and local hindlimb properties during terrestrial locomotion of the common quail (Coturnix coturnix). J. Exp. Biol. 216, 3906\u20133916 (2013).","journal-title":"J. Exp. Biol."},{"key":"851_CR31","doi-asserted-by":"crossref","first-page":"262","DOI":"10.1002\/jez.589","volume":"313","author":"EL Brainerd","year":"2010","unstructured":"Brainerd, E. L. et al. X-ray reconstruction of moving morphology (XROMM): precision, accuracy and applications in comparative biomechanics research. J. Exp. Zool. A 313, 262\u2013279 (2010).","journal-title":"J. Exp. Zool. A"},{"key":"851_CR32","doi-asserted-by":"crossref","first-page":"244","DOI":"10.1002\/jez.588","volume":"313","author":"SM Gatesy","year":"2010","unstructured":"Gatesy, S. M., Baier, D. B., Jenkins, F. A. & Dial, K. P. Scientific rotoscoping: a morphology-based method of 3-D motion analysis and visualization. J. Exp. Zool. A. 313, 244\u2013261 (2010).","journal-title":"J. Exp. Zool. A."},{"key":"851_CR33","doi-asserted-by":"publisher","first-page":"175","DOI":"10.1007\/s11692-013-9266-z","volume":"41","author":"JA Nyakatura","year":"2014","unstructured":"Nyakatura, J. A., Andrada, E., Curth, S. & Fischer, M. S. Bridging \u201cRomer\u2019s Gap\u201d: limb mechanics of an extant belly-dragging lizard inform debate on tetrapod locomotion during the early carboniferous. Evol. Biol. 41, 175\u2013190 (2014).","journal-title":"Evol. Biol."},{"key":"851_CR34","volume-title":"Function and Evolution of the Hind Limb in Triassic Archosaurian Reptiles","author":"CS Sullivan","year":"2007","unstructured":"Sullivan, C. S. Function and Evolution of the Hind Limb in Triassic Archosaurian Reptiles (Harvard Univ. Press, Cambridge, 2007)."},{"key":"851_CR35","doi-asserted-by":"publisher","DOI":"10.1186\/1742-9994-7-21","volume":"7","author":"JA Nyakatura","year":"2010","unstructured":"Nyakatura, J. A. & Fischer, M. S. Three-dimensional kinematic analysis of the pectoral girdle during upside-down locomotion of two-toed sloths (Choloepus didactylus, Linn\u00e9 1758). Front. Zool. 7, 21 (2010).","journal-title":"Front. Zool."},{"key":"851_CR36","doi-asserted-by":"crossref","first-page":"1339","DOI":"10.1242\/jeb.205.9.1339","volume":"205","author":"H Witte","year":"2002","unstructured":"Witte, H. et al. Torque patterns of the limbs of small therian mammals during locomotion on flat ground. J. Exp. Biol. 205, 1339\u20131353 (2002).","journal-title":"J. Exp. Biol."},{"key":"851_CR37","doi-asserted-by":"publisher","first-page":"32","DOI":"10.1080\/10420940.2013.877006","volume":"21","author":"S Curth","year":"2014","unstructured":"Curth, S., Fischer, M. S. & Nyakatura, J. A. Ichnology of an extant belly-dragging lizard\u2014analogies to early reptile locomotion? Ichnos 21, 32\u201343 (2014).","journal-title":"Ichnos"},{"key":"851_CR38","volume-title":"Advanced Animation and Rendering Techniques","author":"A Watt","year":"1992","unstructured":"Watt, A. & Watt, M. Advanced Animation and Rendering Techniques (Addison Wesley, Boston, 1992)."},{"key":"851_CR39","volume-title":"McN. Principles of Animal Locomotion","author":"R Alexander","year":"2013","unstructured":"Alexander, R. McN. Principles of Animal Locomotion (Princeton Univ. Press, Princeton, 2013)."},{"key":"851_CR40","doi-asserted-by":"publisher","first-page":"135","DOI":"10.1111\/j.1469-7998.1983.tb04266.x","volume":"201","author":"RMcN Alexander","year":"1983","unstructured":"Alexander, R. McN. & Jayes, A. S. A dynamic similarity hypothesis for the gaits of quadrupedal mammals. J. Zool. 201, 135\u2013152 (1983).","journal-title":"J. Zool."},{"key":"851_CR41","unstructured":"Buss, S. R. Introduction to inverse kinematics with Jacobian transpose, pseudoinverse and damped least squares methods. https:\/\/www.math.ucsd.edu\/~sbuss\/ResearchWeb\/ikmethods\/index.html (2009)."},{"key":"851_CR42","doi-asserted-by":"publisher","first-page":"327","DOI":"10.1007\/s12532-014-0071-1","volume":"6","author":"HJ Ferreau","year":"2014","unstructured":"Ferreau, H. J., Kirches, C., Potschka, A., Bock, H. G. & Diehl, M. qpOASES: a parametric active-set algorithm for quadratic programming. Math. Program. Comput. 6, 327\u2013363 (2014).","journal-title":"Math. Program. Comput."},{"key":"851_CR43","doi-asserted-by":"publisher","first-page":"1195","DOI":"10.1109\/LRA.2017.2664898","volume":"2","author":"T Horvat","year":"2017","unstructured":"Horvat, T., Melo, K. & Ijspeert, A. J. Spine controller for a sprawling posture Robot. IEEE Robot. Autom. Lett. 2, 1195\u20131202 (2017).","journal-title":"IEEE Robot. Autom. Lett."},{"key":"851_CR44","unstructured":"King, D. Dlib C++ library. http:\/\/dlib.net\/ (accessed 5 February 2018)."},{"key":"851_CR45","doi-asserted-by":"publisher","first-page":"3891","DOI":"10.1242\/jeb.110916","volume":"217","author":"K Jagnandan","year":"2014","unstructured":"Jagnandan, K., Russell, A. P. & Higham, T. E. Tail autotomy and subsequent regeneration alter the mechanics of locomotion in lizards. J. Exp. Biol. 217, 3891\u20133897 (2014).","journal-title":"J. Exp. Biol."},{"key":"851_CR46","doi-asserted-by":"crossref","first-page":"2559","DOI":"10.1242\/jeb.201.18.2559","volume":"201","author":"SM Reilly","year":"1998","unstructured":"Reilly, S. M. & Elias, J. A. Locomotion in Alligator mississippiensis: kinematic effects of speed and posture and their relevance to the sprawling-to-erect paradigm. J. Exp. Biol. 201, 2559\u20132574 (1998).","journal-title":"J. Exp. Biol."},{"key":"851_CR47","doi-asserted-by":"crossref","first-page":"269","DOI":"10.1242\/jeb.99.1.269","volume":"99","author":"LC Rome","year":"1982","unstructured":"Rome, L. C. Energetic cost of running with different muscle temperatures in savannah monitor lizards. J. Exp. Biol. 99, 269\u2013277 (1982).","journal-title":"J. Exp. Biol."},{"key":"851_CR48","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-017-11484-7","volume":"7","author":"K Jagnandan","year":"2017","unstructured":"Jagnandan, K. & Higham, T. E. Lateral movements of a massive tail influence gecko locomotion: an integrative study comparing tail restriction and autotomy. Sci. Rep. 7, 10865 (2017).","journal-title":"Sci. Rep."}],"container-title":["Nature"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.nature.com\/articles\/s41586-018-0851-2","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/www.nature.com\/articles\/s41586-018-0851-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/www.nature.com\/articles\/s41586-018-0851-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,7,13]],"date-time":"2024-07-13T23:54:28Z","timestamp":1720914868000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.nature.com\/articles\/s41586-018-0851-2"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,1]]},"references-count":48,"journal-issue":{"issue":"7739","published-print":{"date-parts":[[2019,1]]}},"alternative-id":["851"],"URL":"https:\/\/doi.org\/10.1038\/s41586-018-0851-2","relation":{},"ISSN":["0028-0836","1476-4687"],"issn-type":[{"value":"0028-0836","type":"print"},{"value":"1476-4687","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,1]]},"assertion":[{"value":"25 May 2018","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"11 December 2018","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"16 January 2019","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"The authors declare no competing interests.","order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}}]}}