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

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

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

3 Citations (Scopus)


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 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
Number of pages8
ISBN (Print)9783319424163
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)
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016
Country/TerritoryUnited Kingdom


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

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


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