{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,6]],"date-time":"2026-10-06T12:52:48Z","timestamp":1791291168571,"version":"4.3.0"},"reference-count":42,"publisher":"The Royal Society","issue":"201","license":[{"start":{"date-parts":[[2023,4,1]],"date-time":"2023-04-01T00:00:00Z","timestamp":1680307200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/royalsociety.org\/journals\/ethics-policies\/data-sharing-mining\/"}],"funder":[{"name":"Australian Research Council Discovery Grant","award":["DP180100220"],"award-info":[{"award-number":["DP180100220"]}]}],"content-domain":{"domain":["royalsocietypublishing.org"],"crossmark-restriction":true},"short-container-title":["J. R. Soc. Interface."],"published-print":{"date-parts":[[2023,4]]},"abstract":"<jats:p>\n            Many climbing animals use direction-dependent adhesives to attach to vertical or inclined surfaces. These structures adhere when activated via a pull but detach when pushed. Therefore, a challenge arises when a change in climbing direction causes external forces such as gravity to change its acting orientation upon the lizard. To investigate how specialized climbers adjust, we studied kinematics and dynamics of six\n            <jats:italic>Hemidactylus frenatus<\/jats:italic>\n            geckos climbing head-up and head-down a vertical racetrack. We found that limbs functionally swap their adhesive role: feet above the centre of mass (COM) generated adhesive forces, feet below the COM compressive forces, both equal in magnitude across directions. To investigate how lizards perform this swap, despite the constraint of their direction-dependent adhesives, we analysed kinematic adjustments across multiple smaller levels of hierarchy: limbs, feet and toes. All levels contributed: the hindfoot angle was reoriented realigning the adhesive structure, the hindlimb centre range of motion was further protracted and the hindfoot toe spreading was reduced. Notably, all three variables were adjustments of hindlimbs, suggesting that they make a more flexible contribution in upward versus downward climbing, while forelimbs may be anatomically or functionally constrained. The relevance of multilevel dynamic adjustments might inform the development of performant gaits for legged climbing robots.\n          <\/jats:p>","DOI":"10.1098\/rsif.2022.0840","type":"journal-article","created":{"date-parts":[[2023,4,4]],"date-time":"2023-04-04T23:05:32Z","timestamp":1680649532000},"update-policy":"https:\/\/doi.org\/10.1098\/crossmark-policy","source":"Crossref","is-referenced-by-count":8,"title":["Multilevel dynamic adjustments of geckos (\n            <i>Hemidactylus frenatus<\/i>\n            ) climbing vertically: head-up versus head-down"],"prefix":"10.1098","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3103-2825","authenticated-orcid":true,"given":"Johanna T.","family":"Schultz","sequence":"first","affiliation":[{"name":"School of Science and Engineering, University of the Sunshine Coast, Queensland, Australia"},{"name":"The Robotics and Autonomous Systems Group, CSIRO Data61, Queensland, Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1952-8732","authenticated-orcid":true,"given":"David","family":"Labonte","sequence":"additional","affiliation":[{"name":"Department of Bioengineering, Imperial College London, London, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8174-3890","authenticated-orcid":true,"given":"Christofer J.","family":"Clemente","sequence":"additional","affiliation":[{"name":"School of Science and Engineering, University of the Sunshine Coast, Queensland, Australia"},{"name":"School of Biomedical Sciences, The University of Queensland, Saint Lucia, Queensland, Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"175","published-online":{"date-parts":[[2023,4,5]]},"reference":[{"key":"e_1_3_7_2_2","doi-asserted-by":"publisher","DOI":"10.1093\/icb\/icu015"},{"key":"e_1_3_7_3_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.01980"},{"key":"e_1_3_7_4_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.01979"},{"key":"e_1_3_7_5_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.016139"},{"key":"e_1_3_7_6_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11434-010-4082-7"},{"key":"e_1_3_7_7_2","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2016.0373"},{"key":"e_1_3_7_8_2","doi-asserted-by":"publisher","DOI":"10.1098\/rstb.2014.0027"},{"key":"e_1_3_7_9_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2014.2315762"},{"key":"e_1_3_7_10_2","doi-asserted-by":"publisher","DOI":"10.1098\/rspb.2000.1133"},{"key":"e_1_3_7_11_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.020941"},{"key":"e_1_3_7_12_2","doi-asserted-by":"publisher","DOI":"10.1093\/icb\/42.6.1081"},{"key":"e_1_3_7_13_2","doi-asserted-by":"publisher","DOI":"10.1098\/rspb.2007.1660"},{"key":"e_1_3_7_14_2","doi-asserted-by":"publisher","DOI":"10.1111\/j.1469-7998.2009.00559.x"},{"key":"e_1_3_7_15_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.089060"},{"key":"e_1_3_7_16_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.02322"},{"key":"e_1_3_7_17_2","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/ac6557"},{"key":"e_1_3_7_18_2","doi-asserted-by":"publisher","DOI":"10.1098\/rsta.2007.2173"},{"key":"e_1_3_7_19_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.909786"},{"key":"e_1_3_7_20_2","doi-asserted-by":"publisher","DOI":"10.1007\/s40544-013-0011-5"},{"key":"e_1_3_7_21_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.02486"},{"key":"e_1_3_7_22_2","doi-asserted-by":"publisher","DOI":"10.1186\/s12983-016-0144-2"},{"key":"e_1_3_7_23_2","doi-asserted-by":"publisher","DOI":"10.1098\/rsbl.2014.0456"},{"key":"e_1_3_7_24_2","doi-asserted-by":"publisher","DOI":"10.1155\/2011\/623976"},{"key":"e_1_3_7_25_2","doi-asserted-by":"publisher","DOI":"10.1098\/rspb.2020.0123"},{"key":"e_1_3_7_26_2","doi-asserted-by":"publisher","DOI":"10.1093\/icb\/icz024"},{"key":"e_1_3_7_27_2","doi-asserted-by":"publisher","DOI":"10.4159\/harvard.9780674184404.c5"},{"key":"e_1_3_7_28_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41596-019-0176-0"},{"key":"e_1_3_7_29_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00359-021-01468-4"},{"key":"e_1_3_7_30_2","doi-asserted-by":"publisher","DOI":"10.1093\/icb\/icab037"},{"key":"e_1_3_7_31_2","first-page":"1","article-title":"Linear and nonlinear mixed effects models","volume":"3","author":"Pinheiro J","year":"2007","unstructured":"Pinheiro J, Bates D, DebRoy S, Sarkar D, R Core Team. 2007 Linear and nonlinear mixed effects models. R Package Version 3, 1-89.","journal-title":"R Package Version"},{"key":"e_1_3_7_32_2","first-page":"3781","article-title":"Sex-specific trade-offs and compensatory mechanisms: bite force and sprint speed pose conflicting demands on the design of geckos (Hemidactylus frenatus)","volume":"216","author":"Cameron SF","year":"2013","unstructured":"Cameron SF, Wynn ML, Wilson RS. 2013 Sex-specific trade-offs and compensatory mechanisms: bite force and sprint speed pose conflicting demands on the design of geckos (Hemidactylus frenatus). J. Exp. Biol. 216, 3781-3789. (doi:10.1242\/jeb.083063)","journal-title":"J. Exp. Biol."},{"key":"e_1_3_7_33_2","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/ac370f"},{"key":"e_1_3_7_34_2","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2007.III.002"},{"key":"e_1_3_7_35_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912442096"},{"key":"e_1_3_7_36_2","doi-asserted-by":"publisher","DOI":"10.1098\/rspb.2020.2576"},{"key":"e_1_3_7_37_2","doi-asserted-by":"publisher","DOI":"10.1111\/j.1469-7998.1975.tb03215.x"},{"key":"e_1_3_7_38_2","doi-asserted-by":"publisher","DOI":"10.1007\/s004350050077"},{"key":"e_1_3_7_39_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.080085"},{"key":"e_1_3_7_40_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11340-010-9347-1"},{"key":"e_1_3_7_41_2","doi-asserted-by":"publisher","DOI":"10.1038\/nmat2554"},{"key":"e_1_3_7_42_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2018.12.071"},{"key":"e_1_3_7_43_2","unstructured":"Schultz JT Labonte D Clemente CJ. 2023 Multilevel dynamic adjustments of geckos ( Hemidactylus frenatus ) climbing vertically: head-up versus head-down. Figshare. (doi:10.6084\/m9.figshare.c.6486188)"}],"container-title":["Journal of The Royal Society Interface"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/royalsocietypublishing.org\/doi\/pdf\/10.1098\/rsif.2022.0840","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/royalsocietypublishing.org\/doi\/full-xml\/10.1098\/rsif.2022.0840","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/royalsocietypublishing.org\/doi\/pdf\/10.1098\/rsif.2022.0840","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,4,4]],"date-time":"2023-04-04T23:05:55Z","timestamp":1680649555000},"score":1,"resource":{"primary":{"URL":"https:\/\/royalsocietypublishing.org\/doi\/10.1098\/rsif.2022.0840"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,4]]},"references-count":42,"journal-issue":{"issue":"201","published-print":{"date-parts":[[2023,4]]}},"alternative-id":["10.1098\/rsif.2022.0840"],"URL":"https:\/\/doi.org\/10.1098\/rsif.2022.0840","relation":{},"ISSN":["1742-5662"],"issn-type":[{"value":"1742-5662","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,4]]},"assertion":[{"value":"2022-11-21","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2023-03-13","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2023-04-05","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"20220840"}}