A simple body-limb coordination model that mimics primitive tetrapod walking

Shura Suzuki; Akira Fukuhara; Dai Owaki; Takeshi Kano; Auke J. Ijspeert; Akio Ishiguro

doi:10.23919/SICE.2017.8105624

A simple body-limb coordination model that mimics primitive tetrapod walking

Shura Suzuki, Akira Fukuhara, Dai Owaki, Takeshi Kano, Auke J. Ijspeert, Akio Ishiguro

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

6 Citations (Scopus)

Abstract

The coordination of body and limbs motions contributes to effective propulsion in limed locomotion. However, there is lack of understanding that characterizes the mechanism underlying the body-limb coordination. The aim of this study involves clarifying the mechanism through mathematical modeling and dynamic simulation. To this end, a body-limb coordination model was designed based on a simple rule by effectively using a pivot turn. The model successfully generated locomotion similar to primitive tetrapod walking, e.g. salamander and Polypterus walking based on their physical properties.

Original language	English
Title of host publication	2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	12-14
Number of pages	3
ISBN (Electronic)	9784907764579
DOIs	https://doi.org/10.23919/SICE.2017.8105624
Publication status	Published - 2017 Nov 10
Event	56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 - Kanazawa, Japan Duration: 2017 Sept 19 → 2017 Sept 22

Publication series

Name	2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
Volume	2017-November

Conference

Conference	56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
Country/Territory	Japan
City	Kanazawa
Period	17/9/19 → 17/9/22

Keywords

Autonomous decentralized control
Body-limb coordination
Primitive tetrapod walking

Access to Document

10.23919/SICE.2017.8105624

Cite this

Suzuki, S., Fukuhara, A., Owaki, D., Kano, T., Ijspeert, A. J., & Ishiguro, A. (2017). A simple body-limb coordination model that mimics primitive tetrapod walking. In 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 (pp. 12-14). (2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017; Vol. 2017-November). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/SICE.2017.8105624

Suzuki, Shura ; Fukuhara, Akira ; Owaki, Dai et al. / A simple body-limb coordination model that mimics primitive tetrapod walking. 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 12-14 (2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017).

@inproceedings{b2fb5f68a4dc422689f552a39115adf4,

title = "A simple body-limb coordination model that mimics primitive tetrapod walking",

abstract = "The coordination of body and limbs motions contributes to effective propulsion in limed locomotion. However, there is lack of understanding that characterizes the mechanism underlying the body-limb coordination. The aim of this study involves clarifying the mechanism through mathematical modeling and dynamic simulation. To this end, a body-limb coordination model was designed based on a simple rule by effectively using a pivot turn. The model successfully generated locomotion similar to primitive tetrapod walking, e.g. salamander and Polypterus walking based on their physical properties.",

keywords = "Autonomous decentralized control, Body-limb coordination, Primitive tetrapod walking",

author = "Shura Suzuki and Akira Fukuhara and Dai Owaki and Takeshi Kano and Ijspeert, {Auke J.} and Akio Ishiguro",

note = "Publisher Copyright: {\textcopyright} 2017 The Society of Instrument and Control Engineers - SICE.; 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 ; Conference date: 19-09-2017 Through 22-09-2017",

year = "2017",

month = nov,

day = "10",

doi = "10.23919/SICE.2017.8105624",

language = "English",

series = "2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "12--14",

booktitle = "2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017",

address = "United States",

}

Suzuki, S, Fukuhara, A , Owaki, D , Kano, T, Ijspeert, AJ & Ishiguro, A 2017, A simple body-limb coordination model that mimics primitive tetrapod walking. in 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017. 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017, vol. 2017-November, Institute of Electrical and Electronics Engineers Inc., pp. 12-14, 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017, Kanazawa, Japan, 17/9/19. https://doi.org/10.23919/SICE.2017.8105624

A simple body-limb coordination model that mimics primitive tetrapod walking. / Suzuki, Shura; Fukuhara, Akira ; Owaki, Dai et al.
2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 12-14 (2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017; Vol. 2017-November).

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

TY - GEN

T1 - A simple body-limb coordination model that mimics primitive tetrapod walking

AU - Suzuki, Shura

AU - Fukuhara, Akira

AU - Owaki, Dai

AU - Kano, Takeshi

AU - Ijspeert, Auke J.

AU - Ishiguro, Akio

PY - 2017/11/10

Y1 - 2017/11/10

N2 - The coordination of body and limbs motions contributes to effective propulsion in limed locomotion. However, there is lack of understanding that characterizes the mechanism underlying the body-limb coordination. The aim of this study involves clarifying the mechanism through mathematical modeling and dynamic simulation. To this end, a body-limb coordination model was designed based on a simple rule by effectively using a pivot turn. The model successfully generated locomotion similar to primitive tetrapod walking, e.g. salamander and Polypterus walking based on their physical properties.

AB - The coordination of body and limbs motions contributes to effective propulsion in limed locomotion. However, there is lack of understanding that characterizes the mechanism underlying the body-limb coordination. The aim of this study involves clarifying the mechanism through mathematical modeling and dynamic simulation. To this end, a body-limb coordination model was designed based on a simple rule by effectively using a pivot turn. The model successfully generated locomotion similar to primitive tetrapod walking, e.g. salamander and Polypterus walking based on their physical properties.

KW - Autonomous decentralized control

KW - Body-limb coordination

KW - Primitive tetrapod walking

UR - http://www.scopus.com/inward/record.url?scp=85044161935&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85044161935&partnerID=8YFLogxK

U2 - 10.23919/SICE.2017.8105624

DO - 10.23919/SICE.2017.8105624

M3 - Conference contribution

AN - SCOPUS:85044161935

T3 - 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017

SP - 12

EP - 14

BT - 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017

Y2 - 19 September 2017 through 22 September 2017

ER -

Suzuki S, Fukuhara A , Owaki D , Kano T, Ijspeert AJ, Ishiguro A. A simple body-limb coordination model that mimics primitive tetrapod walking. In 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 12-14. (2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017). doi: 10.23919/SICE.2017.8105624

A simple body-limb coordination model that mimics primitive tetrapod walking

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this