Understanding interlimb coordination mechanism of hexapod locomotion via “TEGOTAE”-based control

Masashi Goda; Sakiko Miyazawa; Susumu Itayama; Dai Owaki; Takeshi Kano; Akio Ishiguro

doi:10.1007/978-3-319-42417-0_44

Understanding interlimb coordination mechanism of hexapod locomotion via “TEGOTAE”-based control

Masashi Goda, Sakiko Miyazawa, Susumu Itayama, Dai Owaki, Takeshi Kano, Akio Ishiguro

Human Information Systems Division

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

Insects exhibit surprisingly adaptive and versatile locomotion despite their limited computational resources. Such locomotor patterns are generated via coordination between leg movements, i.e., an interlimb coordination mechanism. The clarification of this mechanism will lead us to elucidate the fundamental control principle of animal locomotion as well as to realize truly adaptive legged robots that could not be developed solely by conventional control theory. In this study, we tried to model the interlimb coordination mechanism underlying hexapod locomotion on the basis of a concept called “TEGOTAE,” a Japanese concept describing how well a perceived reaction matches an expectation. Preliminary experimental results show that our proposed TEGOTAE based control scheme allows us to systematically design a decentralized interlimb coordination mechanism that can well-reproduce insects’ gait patterns.

Original language	English
Title of host publication	Biomimetic and Biohybrid Systems - 5th International Conference, Living Machines 2016, Proceedings
Editors	Nathan F. Lepora, Anna Mura, Marc Desmulliez, Michael Mangan, Paul F.M.J. Verschure, Tony J. Prescott
Publisher	Springer Verlag
Pages	441-448
Number of pages	8
ISBN (Print)	9783319424163
DOIs	https://doi.org/10.1007/978-3-319-42417-0_44
Publication status	Published - 2016
Event	5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016 - Edinburgh, United Kingdom Duration: 2016 Jul 19 → 2016 Jul 22

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	9793
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Other

Other	5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016
Country	United Kingdom
City	Edinburgh
Period	16/7/19 → 16/7/22

Keywords

Central pattern generator (CPG)
Hexapod locomotion
Interlimb coordination
Local force feedback
TEGOTAE

ASJC Scopus subject areas

Theoretical Computer Science
Computer Science(all)

Access to Document

10.1007/978-3-319-42417-0_44

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Cite this

Goda, M., Miyazawa, S., Itayama, S., Owaki, D., Kano, T., & Ishiguro, A. (2016). Understanding interlimb coordination mechanism of hexapod locomotion via “TEGOTAE”-based control. In N. F. Lepora, A. Mura, M. Desmulliez, M. Mangan, P. F. M. J. Verschure, & T. J. Prescott (Eds.), Biomimetic and Biohybrid Systems - 5th International Conference, Living Machines 2016, Proceedings (pp. 441-448). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9793). Springer Verlag. https://doi.org/10.1007/978-3-319-42417-0_44

Understanding interlimb coordination mechanism of hexapod locomotion via “TEGOTAE”-based control. / Goda, Masashi; Miyazawa, Sakiko; Itayama, Susumu; Owaki, Dai ; Kano, Takeshi ; Ishiguro, Akio.

Biomimetic and Biohybrid Systems - 5th International Conference, Living Machines 2016, Proceedings. ed. / Nathan F. Lepora; Anna Mura; Marc Desmulliez; Michael Mangan; Paul F.M.J. Verschure; Tony J. Prescott. Springer Verlag, 2016. p. 441-448 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9793).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Goda, M, Miyazawa, S, Itayama, S, Owaki, D , Kano, T & Ishiguro, A 2016, Understanding interlimb coordination mechanism of hexapod locomotion via “TEGOTAE”-based control. in NF Lepora, A Mura, M Desmulliez, M Mangan, PFMJ Verschure & TJ Prescott (eds), Biomimetic and Biohybrid Systems - 5th International Conference, Living Machines 2016, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 9793, Springer Verlag, pp. 441-448, 5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016, Edinburgh, United Kingdom, 16/7/19. https://doi.org/10.1007/978-3-319-42417-0_44

Goda M, Miyazawa S, Itayama S, Owaki D , Kano T , Ishiguro A. Understanding interlimb coordination mechanism of hexapod locomotion via “TEGOTAE”-based control. In Lepora NF, Mura A, Desmulliez M, Mangan M, Verschure PFMJ, Prescott TJ, editors, Biomimetic and Biohybrid Systems - 5th International Conference, Living Machines 2016, Proceedings. Springer Verlag. 2016. p. 441-448. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/978-3-319-42417-0_44

Goda, Masashi ; Miyazawa, Sakiko ; Itayama, Susumu ; Owaki, Dai ; Kano, Takeshi ; Ishiguro, Akio. / Understanding interlimb coordination mechanism of hexapod locomotion via “TEGOTAE”-based control. Biomimetic and Biohybrid Systems - 5th International Conference, Living Machines 2016, Proceedings. editor / Nathan F. Lepora ; Anna Mura ; Marc Desmulliez ; Michael Mangan ; Paul F.M.J. Verschure ; Tony J. Prescott. Springer Verlag, 2016. pp. 441-448 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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note = "Funding Information: We acknowledge the support of a JSPS KAKENHI Grant-in-Aid for Scientific Research (B) (16H04381).; 5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016 ; Conference date: 19-07-2016 Through 22-07-2016",

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