TY - GEN
T1 - Decentralized Control of Pedundulatory and Peristaltic Locomotion Inspired by Polycheates
AU - Yasui, Kotaro
AU - Kanno, Takeru
AU - Kano, Takeshi
AU - Ishiguro, Akio
N1 - Funding Information:
This work was supported by the Human Frontier Science Program (RGP0027/2017) and Frontier Research Institute for Interdisciplinary Sciences, Tohoku University.
Publisher Copyright:
© 2021 The Society of Instrument and Control Engineers-SICE.
PY - 2021/9/8
Y1 - 2021/9/8
N2 - Polychaete worms move effectively using pedundulatory locomotion (i.e., body undulation coordinated with parapodia motions) and peristalsis in response to the environment. However, the essential control mechanism underlying adaptive multi-modal locomotion in polychaetes remains unclear. In this study, we observed the locomotion when a part of the body was placed in a narrow space and found that the worm exhibited a mixed locomotor pattern along the body. Based on this finding, we proposed a decentralized control model that can produce the adaptive switch between the pedundulatory and peristaltic locomotion in polychaetes and validated it in simulation.
AB - Polychaete worms move effectively using pedundulatory locomotion (i.e., body undulation coordinated with parapodia motions) and peristalsis in response to the environment. However, the essential control mechanism underlying adaptive multi-modal locomotion in polychaetes remains unclear. In this study, we observed the locomotion when a part of the body was placed in a narrow space and found that the worm exhibited a mixed locomotor pattern along the body. Based on this finding, we proposed a decentralized control model that can produce the adaptive switch between the pedundulatory and peristaltic locomotion in polychaetes and validated it in simulation.
KW - decentralized control
KW - multi-modal locomotion
KW - sensory feedback
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M3 - Conference contribution
AN - SCOPUS:85117704754
T3 - 2021 60th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2021
SP - 60
EP - 65
BT - 2021 60th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 60th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2021
Y2 - 8 September 2021 through 10 September 2021
ER -