A simple body-limb coordination model that mimics primitive tetrapod walking

Shura Suzuki, Akira Fukuhara, Dai Owaki, Takeshi Kano, Auke J. Ijspeert, Akio Ishiguro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

The coordination of body and limbs motions contributes to effective propulsion in limed locomotion. However, there is lack of understanding that characterizes the mechanism underlying the body-limb coordination. The aim of this study involves clarifying the mechanism through mathematical modeling and dynamic simulation. To this end, a body-limb coordination model was designed based on a simple rule by effectively using a pivot turn. The model successfully generated locomotion similar to primitive tetrapod walking, e.g. salamander and Polypterus walking based on their physical properties.

Original languageEnglish
Title of host publication2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages12-14
Number of pages3
ISBN (Electronic)9784907764579
DOIs
Publication statusPublished - 2017 Nov 10
Event56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 - Kanazawa, Japan
Duration: 2017 Sep 192017 Sep 22

Publication series

Name2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
Volume2017-November

Other

Other56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
CountryJapan
CityKanazawa
Period17/9/1917/9/22

Keywords

  • Autonomous decentralized control
  • Body-limb coordination
  • Primitive tetrapod walking

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Optimization
  • Control and Systems Engineering
  • Instrumentation

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