Biology subjects

Mendelson, J. R.

Publications and source records attributed to Mendelson, J. R..

6 recordsLinked to original sources

bioRxiv2026

Redundant contacts and force redistribution stabilize limbless vertical climbing

Animals navigating complex vertical environments must secure stable footholds, a challenge for species without feet. While arboreal climbing has evolved repeatedly in snakes, the physical mechanisms they use to scale broad, nearly flat surfaces remain poorly understood. By measuring three-dimensional body kinematics and per-contact forces on a smooth vertical wall with protruding posts, we show that cornsnakes climb by dynamically balancing forces across a highly redundant network of 5 to 16 simultaneous contacts--far exceeding the three contacts minimally required for physical stability. Using a computational model and a robotic climber, we demonstrate that while simple body undulations and passive friction are mechanically sufficient to climb this terrain, snakes systematically deviate from this passive baseline. While downward climbing relies primarily on friction, ascending snakes actively generate positive mechanical work at their contacts to propel themselves. Furthermore, we found that whenever a snake engages a new contact, it triggers a stereotyped, system-wide redistribution of force that seamlessly integrates the new foothold without disrupting whole-body balance. These results reveal how a continuous, flexible body can transform sparse environmental features into a robust, fault-tolerant network. This mechanism provides a biomechanical framework for understanding the repeated evolution of limbless climbing and offers physical principles for designing agile robots for unstructured terrain.

biophysics↗

bioRxiv2025

Preserved reptile scales retain microscopic features, revealing a new instance of convergent evolution

Small-scale structures on biological surfaces can profoundly impact how animals move, appear, and interact with their environments. Such textures may be especially important for limbless reptiles, such as snakes and legless lizards, because their skin serves as the primary interface with the world around them. Here, we examine ventral microstructures of several limbless reptiles, which are hypothesized to be highly specialized to aid locomotion via frictional interactions. Inspired by prior studies that investigated potential links between microtextures, phylogeny, habitat, and locomotion--but that were limited by their reliance on shed skins--we characterized the structures present on preserved museum specimens and found that they are quantitatively similar to those found on shed skins. Using this result, we confirmed a previously hypothesized--but untested due to the lack of shed skins--third independent evolution of sidewinding-specific isotropic microtexture. Specifically, we examined a museum-preserved Bitis peringueyi specimen and identified a new instance of convergent evolution in sidewinding viper microstructures: the loss of micro-spikes (present on many snake species) and the appearance of micro-pits with a characteristic spacing. Our results reveal that museum-preserved specimens retain intact microtextures, greatly expanding the availability of samples for evolutionary studies.

biophysics↗

bioRxiv2024

Resolving the Taxonomic Status of the Marbled Toad (Bufonidae: Incilius marmoreus): 2RAD-based Phylogeography Including an Isolated Population in Veracruz, Mexico

Incilius marmoreus inhabits an extensive range along the Pacific Coast of Mexico and a smaller allopatric region in the State of Veracruz, exhibiting an unusual distribution among herpetofauna. In 1901, Gunther classified the Pacific coastal toads Bufo argillaceus and B. lateralis as conspecific with Incilius [Bufo] marmoreus, which has its type locality in Veracruz. Here, we adopt a multidisciplinary approach to reevaluate the phylogeography and taxonomy of I. marmoreus by gathering and analyzing morphological data and conducting phylogenetic and population genetic analyses from genome-wide SNP data. Our results uphold the current taxonomy by concurring with Gunther. Our phylogenetic and population genetic analyses suggest that I. marmoreus from Veracruz are closely related to those from Oaxaca whilst coalescent analyses recovered a north-south split along the Pacific Coast estimated to have occurred [~]0.86 Mya followed by a shallow east-west split in the southern lineage that separates the Pacific coastal populations and the allopatric population in Veracruz [~]0.33 Mya. This species displays marked morphological and genetic diversity throughout its range, but this variation appears to be consistent with gene flow across contiguous populations rather than the existence of independent evolutionary lineages. The processes leading to the geographic isolation of the population on the coast of Veracruz remain uncertain, but we hypothesize that climatic and vegetation changes in the Late Pleistocene may have played a role. JOURNAL PUBLICATION STATEMENTThis article has been published in Ichthyology & Herpetology: https://doi.org/10.1643/h2024107.

evolutionary biology↗

bioRxiv2020

Side-Impact Collision: Mechanics of Obstacle Negotiation in Sidewinding Snakes

Snakes excel at moving through cluttered environments, and heterogeneities can be used as propulsive contacts for snakes performing lateral undulation. However, sidewinding, often associated with sandy deserts, cuts a broad path through the environment that may increase the vulnerability to obstacles. Our prior work demonstrated that sidewinding can be represented as a pair of orthogonal body waves (vertical and horizontal) that can be independently modulated to achieve high maneuverability and incline ascent, suggesting that sidewinders may also use template modulations to negotiate obstacles. To test this hypothesis, we recorded overhead video of four sidewinder rattlesnakes (Crotalus cerastes) crossing a line of vertical pegs placed in the substrate. Snakes used three methods to traverse the obstacles: a Propagate Through behavior in which the lifted moving portion of the snake was deformed around the peg and dragged through as the snake continued sidewinding (115/160 runs), Reversal turns that reorient the snake entirely (35/160), or switching to Concertina locomotion (10/160). The Propagate-Through response was only used if the anterior-most region of static contact would propagate along a path anterior to the peg, or if a new region of static contact could be formed near the head to satisfy this condition; otherwise, snakes could only use Reversal Turns or switch to Concertina locomotion. Reversal Turns allowed the snake to re-orient and either escape without further peg contact or resorting to Propagate Through. We developed an algorithm to reproduce the Propagate Through behavior in a robotic model using a modulation of the two-wave template. This range of behavioral strategies provides sidewinders with a versatile range of options for effectively negotiating obstacles in their natural habitat, as well as provide insights into the design and control of robotic systems dealing with heterogeneous habitats.

animal behavior and cognition↗

bioRxiv2019

Mitigating memory effects during undulatory locomotion on hysteretic materials.

Undulatory swimming in flowing media like water is well-studied, but little is known about loco-motion in environments that are permanently deformed by body-substrate interactions like snakes in sand, eels in mud, and nematode worms in rotting fruit. We study the desert-specialist snake Chion-actis occipitalis traversing granular matter and find body inertia is negligible despite rapid transit and speed dependent granular reaction forces. New surface resistive force theory (RFT) calculation reveals how this snakes wave shape minimizes memory effects and optimizes escape performance given physiological limitations (power). RFT explains the morphology and waveform dependent performance of a diversity of non-sand-specialist, but overpredicts the capability of snakes with high slip. Robophysical experiments recapitulate aspects of these failure-prone snakes and elucidate how reencountering previously remodeled material hinders performance. This study reveals how memory effects stymied the locomotion of a diversity of snakes in our previous studies [Marvi et al, Science, 2014] and suggests the existence of a predictive model for history-dependent granular physics.

biophysics↗

bioRxiv2019

A high-resolution, chromosome-assigned Komodo dragon genome reveals adaptations in the cardiovascular, muscular, and chemosensory systems of monitor lizards

Monitor lizards are unique among ectothermic reptiles in that they have a high aerobic capacity and distinctive cardiovascular physiology which resembles that of endothermic mammals. We have sequenced the genome of the Komodo dragon (Varanus komodoensis), the largest extant monitor lizard, and present a high resolution de novo chromosome-assigned genome assembly for V. komodoensis, generated with a hybrid approach of long-range sequencing and single molecule physical mapping. Comparing the genome of V. komodoensis with those of related species showed evidence of positive selection in pathways related to muscle energy metabolism, cardiovascular homeostasis, and thrombosis. We also found species-specific expansions of a chemoreceptor gene family related to pheromone and kairomone sensing in V. komodoensis and several other lizard lineages. Together, these evolutionary signatures of adaptation reveal genetic underpinnings of the unique Komodo sensory, cardiovascular, and muscular systems, and suggest that selective pressure altered thrombosis genes to help Komodo dragons evade the anticoagulant effects of their own saliva. As the only sequenced monitor lizard genome, the Komodo dragon genome is an important resource for understanding the biology of this lineage and of reptiles worldwide.

genomics↗