Decentralized control scheme for centipede locomotion based on local reflexes

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

Abstract

Centipedes exhibit adaptive locomotion via coordination of their numerous legs. In this study, we aimed to clarify the inter-limb coordination mechanism by focusing on autonomous decentralized control. Based on our working hypothesis that physical interaction between legs via the body trunk plays an important role for the inter-limb coordination, we constructed a model wherein each leg is driven by a simple local reflexive mechanism.

Original languageEnglish
Title of host publicationBiomimetic and Biohybrid Systems - 5th International Conference, Living Machines 2016, Proceedings
EditorsNathan F. Lepora, Anna Mura, Marc Desmulliez, Michael Mangan, Paul F.M.J. Verschure, Tony J. Prescott
PublisherSpringer Verlag
Pages545-547
Number of pages3
ISBN (Print)9783319424163
DOIs
Publication statusPublished - 2016
Event5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016 - Edinburgh, United Kingdom
Duration: 2016 Jul 192016 Jul 22

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume9793
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016
CountryUnited Kingdom
CityEdinburgh
Period16/7/1916/7/22

Keywords

  • Centipede locomotion
  • Decentralized control
  • Inter-limb coordination
  • Reflex

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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