Decentralized control mechanism for body–limb coordination in quadruped running

Akira Fukuhara, Yukihiro Koizumi, Shura Suzuki, Takeshi Kano, Akio Ishiguro

Research output: Contribution to journalArticlepeer-review

9 Citations (Scopus)


As a mechanism for survival, quadrupeds have obtained skills involving coordination between limbs and the body (i.e. body–limb coordination), providing fast and adaptive locomotion compared with motion using only limbs. Several bio-inspired robotics studies have resulted in the development of legged robots that utilize a flexible spine, similar to cheetahs. However, the control principle of body–limb coordination has not been established to date. From the perspective of a decentralized control scheme, a minimal body–limb coordination mechanism is proposed in this study, in which body parts aid each other via a sensory feedback mechanism. The two-dimensional simulation and hardware experiments reveal that bilateral sensory feedback between limbs and body is essential for the robot to adaptively generate a body–limb coordination pattern and achieve faster locomotion speed than that by only limbs in efficient manner.

Original languageEnglish
Pages (from-to)151-164
Number of pages14
JournalAdaptive Behavior
Issue number3
Publication statusPublished - 2020 Jun 1


  • Quadruped locomotion
  • body–limb coordination
  • central pattern generator
  • high-speed running
  • local sensory feedback

ASJC Scopus subject areas

  • Experimental and Cognitive Psychology
  • Behavioral Neuroscience


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