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Figure 8. Male palp. A, B in Taxonomic revision and phylogenetic hypothesis for the jumping spider subfamily Ballinae (Araneae, Salticidae)

Figure 8. Male palp. A, B, Cynapes wrighti (MRAC 143.455). A, ventral view and B, retrolateral view of male palp. C, D, C. canosus (MHNH 20353). C, ventral view and D, retrolateral view of right male palp. Scale bars = 0.2 mm.

Figure 5. Male palp. A, B in Taxonomic revision and phylogenetic hypothesis for the jumping spider subfamily Ballinae (Araneae, Salticidae)

Figure 5. Male palp. A, B, Baviola braueri (MZT). A, ventral view. B, retrolateral view. C, D, B. luteosignata (MRAC 150.962). C, ventral view. D, retrolateral view. E, F. B. vanmoli (MRAC 150.964). E, ventral view. F, retrolateral view. Scale bars = 0.2 mm.

Figure 36 in Taxonomic revision and phylogenetic hypothesis for the jumping spider subfamily Ballinae (Araneae, Salticidae)

Figure 36. SEM, Philates zschokkei sp. nov. (RMNH). A, male palp, retrolateral view. B, detail of the rta, retrolateral view. C, ec and embolus, retrolateral view. D, pseudo-conductor. E, setae on the apex of cy, retrolateral view. F, detail of E. Scale bars = 5 Mm (F); 10 Mm (D); 30 Mm (B, C, E); 100 Mm (A).

Figure 16 in Taxonomic revision and phylogenetic hypothesis for the jumping spider subfamily Ballinae (Araneae, Salticidae)

Figure 16. Colaxes horton sp. nov. (MHNG). Female from Horton Plains, Sri Lanka. A, habitus, dorsal view. B, epigynum, ventral view. C, vulva, ventral view. D, same, dorsal view. Scale bars = 0.2 mm (B–D); 2.0 mm (A).

Figures 2, 3 in Taxonomic revision and phylogenetic hypothesis for the jumping spider subfamily Ballinae (Araneae, Salticidae)

Figures 2, 3. Parsimony reconstruction of morphological modifications that confirm structural resemblance to ants. The most parsimonious tree, as shown in Fig. 1, is presented. Fig. 2, reconstruction of the evolution of white patches on sides of opisthosoma. Fig. 3, reconstruction of the evolution of the prosomal protuberance, see text for details.

Figure 1 in Taxonomic revision and phylogenetic hypothesis for the jumping spider subfamily Ballinae (Araneae, Salticidae)

Figure 1. Preferred most parsimonious tree of Ballinae genera based on successive character weighting (length = 34 steps, CI = 0.84, RI = 0.90). Character state changes are mapped using Farris optimization. Bold numbers indicate unambiguous character changes.

Figure 35 in Taxonomic revision and phylogenetic hypothesis for the jumping spider subfamily Ballinae (Araneae, Salticidae)

Figure 35. Philates zschokkei sp. nov. (RMNH). Female genitalia. A–C, ventral view. D-F, dorsal view. Scale bars = 0.1 mm.

Figure 11 in Taxonomic revision and phylogenetic hypothesis for the jumping spider subfamily Ballinae (Araneae, Salticidae)

Figure 11. Colaxes nitidiventris (MNHN 18919). A, habitus, dorsal view. B, right male palp, retrolateral view. C, same, ventral view. Scale bars = 0.2 mm (B, C); 2.0 mm (A).

Figure 39 in Taxonomic revision and phylogenetic hypothesis for the jumping spider subfamily Ballinae (Araneae, Salticidae)

Figure 39. Indomarengo sarawakensis sp. nov., from Sarawak, Malaysia (RMNH). Female genitalia. A, epigynum, ventral view. B, vulva, ventral view. C, same, dorsal view. Scale bar = 0.2 mm.

Figure 33 in Taxonomic revision and phylogenetic hypothesis for the jumping spider subfamily Ballinae (Araneae, Salticidae)

Figure 33. Philates zschokkei sp. nov. (RMNH). A, male, dorsal view. B, female, dorsal view. Scale bar = 2.0 mm.

Figure 32 in Taxonomic revision and phylogenetic hypothesis for the jumping spider subfamily Ballinae (Araneae, Salticidae)

Figure 32. Philates grammicus (MNHN 205563/2: 3). Female genitalia. A–C, ventral view. D, dorsal view. Scale bar = 0.1 mm.

Figure 7 in Taxonomic revision and phylogenetic hypothesis for the jumping spider subfamily Ballinae (Araneae, Salticidae)

Figure 7. ESEM, Baviola braueri (MZT). A, B, right male palp, retrolateral view. C, setae of the cymbium apex. D, E, tibia of left leg I, lateral view. F, G, prosoma, frontal section, dorsal view. Scale bars = 5 Mm (C); 10 Mm (E, G); 30 Mm (B); 50 Mm (A, D); 100 Mm (F).

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Data for: Adapting small jumping robots to compliant environments

<p>Jumping animals launch themselves from surfaces that vary widely in compliance from grasses and shrubs to tree branches. However, studies of robotic jumpers have been largely limited to those jumping from rigid substrates. In this paper, we leverage recent work describing how latches in jumping systems can mediate the transition from stored potential energy to kinetic energy. By including a description of the latch in our system model of both the jumper and compliant substrate, we can describe conditions in which a jumper can either lose energy to the substrate or recover energy from the substrate resulting in an improved jump performance. Using our mathematical model, we illustrate how the latch plays a role in the ability of a system to adapt its jump performance to a wide range of substrates that vary in their compliance. Our modeling results are validated using a 4 g jumper with a range of latch designs jumping from substrates with varying mass and compliance. Finally, we demonstrate the jumper recovering energy from a tree branch during take-off, extending these mechanistic findings to robots interacting with a more natural environment.</p>

Fig. 103 in An overview of the jumping spiders of Lesotho (Araneae: Salticidae), with descriptions of six new species

Fig. 103. Map of Lesotho's magisterial districts, with all localities of the Salticidae material included in this study (closed circles) and other localities sampled for spiders for which no Salticidae records were reported (open circles).

Figs 98–101 in An overview of the jumping spiders of Lesotho (Araneae: Salticidae), with descriptions of six new species

Figs 98–101. Thyenula armata and Thyenula sp., ♀. (98, 100) epigynes, ventral view; (99, 101) internal structure of epigynes.

Figs 82–86 in An overview of the jumping spiders of Lesotho (Araneae: Salticidae), with descriptions of six new species

Figs 82–86. Myrmarachne solitaria, ♂ (82–84) and ♀ (85, 86): (82) chelicera, retromarginal view; (83) palpal organ, ventral view; (84) same, retrolateral view; (85) epigyne, ventral view; (86) internal structure of epigyne.

Figs 74–81 in An overview of the jumping spiders of Lesotho (Araneae: Salticidae), with descriptions of six new species

Figs 74–81. Massagris mohale sp. n., paratypes, ♂ (74–79) and ♀ (80, 81): (74) chelicera, retromarginal view; (75) leg I, prolateral view; (76) palpal organ, ventral view; (77) same, retrolateral view; (78) same, dorsal view; (79) embolus, apical view; (80) epigyne, ventral view; (81) internal structure of epigyne.

Figs 62–65 in An overview of the jumping spiders of Lesotho (Araneae: Salticidae), with descriptions of six new species

Figs 62–65. Heliophanus transversus sp. n., ♂ paratype (62–65): (62) palpal organ, ventral view; (63) same, retrolateral-ventral view; (64) same, retrolateral view; (65) same, dorsal view.

Figs 56–61 in An overview of the jumping spiders of Lesotho (Araneae: Salticidae), with descriptions of six new species

Figs 56–61. Heliophanus proszynskii, ♂ (56–59) and ♀ (60, 61): (56) palpal organ, ventral view; (57) same, retrolateral-ventral view; (58) same, retrolateral view; (59) same, dorsal view; (60) epigyne, ventral view; (61) internal structure of epigyne.

Figs 94–97 in An overview of the jumping spiders of Lesotho (Araneae: Salticidae), with descriptions of six new species

Figs 94–97. Phlegra albostriata, ♂: (94) palpal organ, ventral view; (95) same, retrolateral-ventral view; (96) same, retrolateral view; (97) palpal tibia, dorsal view.