arXiv subjects

Benjamin Seleb

Publications and source records attributed to Benjamin Seleb.

4 recordsLinked to original sources

arXiv2026

Acceleration-based clustering reveals frequent gait switching in sprint sled dogs

Continuous video is difficult to obtain during field studies of sprint sled dogs, limiting analysis of stride-to-stride variation during load-pulling gallop. We developed an acceleration-based pipeline to identify recurrent stride states from harness-mounted tri-axial accelerometers without manual gait labels. Using multivariate dynamic time warping, manifold embedding, and density-based clustering, we analyzed more than 20,000 strides from a 10-dog team and identified recurrent, dog-specific stride states. In one previously annotated individual, acceleration-derived states were broadly consistent with manually labeled gallop patterns. Across dogs, transitions between stride states were frequent, with substantial inter-individual variation and limited evidence of strong team-level coordination. A simple logistic model based on local tugline-force timing and magnitude had weak predictive power for transition events. These results suggest that sprint sled dog gallop occupies a variable set of nearby stride states and that local tugline-force fluctuations alone do not explain the observed switching.

physics.bio-ph↗

arXiv2025

Gait Transitions in Load-Pulling Quadrupeds: Insights from Sled Dogs and a Minimal SLIP Model

Quadrupedal animals employ diverse galloping strategies to optimize speed, stability, and energy efficiency. However, the biomechanical mechanisms that enable adaptive gait transitions during high-speed locomotion under load remain poorly understood. In this study, we present new empirical and modeling insights into the biomechanics of load-pulling quadrupeds, using sprint sled dogs as a model system. High-speed video and force recordings reveal that sled dogs often switch between rotary and transverse galloping gaits within just a few strides and without any observable changes in speed, stride duration, or terrain, providing clear evidence of locomotor multistability during high-speed load-pulling. To investigate the mechanical basis of these transitions, a physics-based quadrupedal Spring-Loaded Inverted Pendulum model with hybrid dynamics and prescribed footfall sequences to reproduce the asymmetric galloping patterns observed in racing sled dogs. Through trajectory optimization, we replicate experimentally observed gait sequences and identify swing-leg stiffness modulation as a key control mechanism for inducing transitions. This work provides a much-needed biomechanical perspective on high-speed animal draft and establishes a modeling framework for studying locomotion in pulling quadrupeds, with implications for both biological understanding and the design of adaptive legged systems.

eess.SY↗

arXiv2025

Moo-ving mountains: grazing agents drive terracette formation on steep hillslopes

Terracettes, striking, step-like landforms that stripe steep, vegetated hillslopes, have puzzled scientists for more than a century. Competing hypotheses invoke either slow mass-wasting or the relentless trampling of grazing animals, yet no mechanistic model has linked hoof-scale behavior to landscape-scale form. Here we bridge that gap with an active-walker model in which ungulates are represented as stochastic foragers moving on an erodible slope. Each agent weighs the energetic cost of climbing against the benefit of fresh forage; every hoof-fall compacts soil and lowers local biomass, subtly reshaping the energy landscape that guides subsequent steps. Over time, these stigmergic feedbacks concentrate traffic along cross-slope paths that coalesce into periodic tread-and-riser bands, morphologically analogous to natural terracettes. Our model illustrates how local foraging rules governing movement and substrate feedback can self-organize into large-scale topographic patterns, highlighting the wider role of decentralized biological processes in sculpting terrestrial landscapes.

q-bio.QM↗

arXiv2023

Conservation Tools: The Next Generation of Engineering--Biology Collaborations

The recent increase in public and academic interest in preserving biodiversity has led to the growth of the field of conservation technology. This field involves designing and constructing tools that utilize technology to aid in the conservation of wildlife. In this article, we will use case studies to demonstrate the importance of designing conservation tools with human-wildlife interaction in mind and provide a framework for creating successful tools. These case studies include a range of complexities, from simple cat collars to machine learning and game theory methodologies. Our goal is to introduce and inform current and future researchers in the field of conservation technology and provide references for educating the next generation of conservation technologists. Conservation technology not only has the potential to benefit biodiversity but also has broader impacts on fields such as sustainability and environmental protection. By using innovative technologies to address conservation challenges, we can find more effective and efficient solutions to protect and preserve our planet's resources.

q-bio.QM↗