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Despite contending with constraints imposed by the environment, morphology,and physiology, animals move well by physically interactingwith the environmentto use and transition between modes such as running, climbing, andself-righting. By contrast, robots struggle to do so in real world.Understanding the principles of how locomotor transitions emerge fromconstrained physical interaction is necessary for robots to move robustly usingsimilar strategies. Recent studies discovered that discoid cockroaches use andtransition between diverse locomotor modes to traverse beams and self-right onground. For both systems, animals probabilistically transitioned between modesvia multiple pathways, while its self-propulsion created kinetic energyfluctuation. Here, we seek mechanistic explanations for these observations byadopting a physics-based approach that integrates biological and roboticstudies.  We discovered that animal and robot locomotor transitions during beamobstacle traversal and ground self-righting are barrier-crossing transitions onpotential energy landscapes. Whereas animals and robot traversed stiff beams byrolling their body betweenbeam, they pushed across flimsy beams, suggesting aconcept of terradynamic favorability where modes with easier physicalinteraction are more likely to occur. Robotic beam traversal revealed that,system state either remains in a favorable mode or transitions to one whenenergy fluctuation is comparable to the transition barrier. Roboticself-righting transitions occurred similarly and revealed that changing systemparameters lowers barriers over which comparable fluctuation can inducetransitions. Thetransitionsof animalsin both systems mostly occurred similarly,but sensory feedback may facilitate its beam traversal. Finally, we developed amethod to measure animal movement across large spatiotemporal scales in aterrain treadmill.

Kinetic energy fluctuation-driven locomotor transitions on potential energy landscapes of beam obstacle traversal and self-righting