OPTIMIZATION OF STRUCTURE AND MOVEMENT OF THE LEGS OF ANIMALS

The legs of animals, and their movements, have presumably been optimiz ed by evolution and/or learning for the functions required of them in life. This paper presents a series of studies in which attempts have b een made to formulate optimization problems, to which the legs and the ir movements may be solutions. These are studies of the ratio of radiu s to wall thickness in tubular bones; of the strengths of bones; of te ndon thickness; of the gaits of turtles and of mammals; and of the tec hnique of human high jumping. They illustrate some serious difficultie s that may arise in inverse optimization studies but also show that th e approach is helping to improve our understanding of legs and gaits.