Decentralized control scheme for centipede locomotion based on local reflexes

Kotaro Yasui; Takeshi Kano; Dai Owaki; Akio Ishiguro

doi:10.1007/978-3-319-42417-0_60

Decentralized control scheme for centipede locomotion based on local reflexes

Kotaro Yasui, Takeshi Kano, Dai Owaki, Akio Ishiguro

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

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 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	545-547
Number of pages	3
ISBN (Print)	9783319424163
DOIs	https://doi.org/10.1007/978-3-319-42417-0_60
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

Conference

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

Keywords

Centipede locomotion
Decentralized control
Inter-limb coordination
Reflex

Access to Document

10.1007/978-3-319-42417-0_60

Cite this

Yasui, K., Kano, T., Owaki, D., & Ishiguro, A. (2016). Decentralized control scheme for centipede locomotion based on local reflexes. 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. 545-547). (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_60

Yasui, Kotaro ; Kano, Takeshi ; Owaki, Dai et al. / Decentralized control scheme for centipede locomotion based on local reflexes. 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. 545-547 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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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.",

keywords = "Centipede locomotion, Decentralized control, Inter-limb coordination, Reflex",

author = "Kotaro Yasui and Takeshi Kano and Dai Owaki and Akio Ishiguro",

note = "Funding Information: This research was supported by JST CREST. The authors would like to thank Kazuhiko Sakai of Research Institute of Electrical Communication of Tohoku University for helpful discussion. Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2016.; 5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016 ; Conference date: 19-07-2016 Through 22-07-2016",

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doi = "10.1007/978-3-319-42417-0_60",

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Yasui, K , Kano, T , Owaki, D & Ishiguro, A 2016, Decentralized control scheme for centipede locomotion based on local reflexes. 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. 545-547, 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_60

Decentralized control scheme for centipede locomotion based on local reflexes. / Yasui, Kotaro ; Kano, Takeshi ; Owaki, Dai et al.
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. 545-547 (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 › peer-review

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AU - Yasui, Kotaro

AU - Kano, Takeshi

AU - Owaki, Dai

AU - Ishiguro, Akio

N1 - Funding Information: This research was supported by JST CREST. The authors would like to thank Kazuhiko Sakai of Research Institute of Electrical Communication of Tohoku University for helpful discussion. Publisher Copyright: © Springer International Publishing Switzerland 2016.

PY - 2016

Y1 - 2016

N2 - 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.

AB - 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.

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KW - Inter-limb coordination

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T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

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A2 - Prescott, Tony J.

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Yasui K , Kano T , Owaki D , Ishiguro A. Decentralized control scheme for centipede locomotion based on local reflexes. 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. 545-547. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-319-42417-0_60

Decentralized control scheme for centipede locomotion based on local reflexes

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