However, two simple evolutionary forces, the evolution of anisogamy and intragenomic conflict, interacting with ecological conditions, predict a rich variation in sex roles and behavior. Though these studies are just beginning, the simple rules appear to generate complex and predictable patterns. The new ideas behind these methods will be outlined and recent results for rigidity percolation and minimal surfaces will be presented. There is spectacular permission in 3D musculo-skeletal systems of legged runners. Appendages vary from two in humans to 180 in a millipede.
Body shape ranges from round in a crab to very long, like a centipede.
Body mass varies by 10 orders of magnitude. One might assume that these diverse systems must be heavily actuated and uniquely controlled. Yet, we have shown that despite the remarkable diversity of 3D musculo-skeletal systems, extraordinary similarity in whole body dynamics exists. Legged animals run by bouncing like a spring-mass system. Perhaps some of the control algorithms are embedded in the form of the animal itself.