Minimal Model for Body–Limb Coordination in Quadruped High-Speed Running

Akira Fukuhara, Yukihiro Koizumi, Shura Suzuki, Takeshi Kano, Akio Ishiguro

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)


Cursorial quadrupeds exploit their limbs and bodies (i.e., body–limb coordination) to achieve faster locomotion speed when compared to that with only limbs. Extant studies examined various legged robots that utilize flexible spine bending. However, the control principle of body–limb coordination is not established to date. This study proposes a novel control scheme for body–limb coordination in which all degrees of freedom of the entire body aid each other in achieving higher performance. The 2D simulation results indicate that mutual sensory feedback between the limb and spine plays essential roles in generating their adaptive locomotion patterns in response to physical situations of the body parts and thereby in achieving faster locomotion speeds.

Original languageEnglish
Title of host publicationFrom Animals to Animats 15 - 15th International Conference on Simulation of Adaptive Behavior, SAB 2018, Proceedings
EditorsPoramate Manoonpong, Jørgen Christian Larsen, Xiaofeng Xiong, John Hallam, Jochen Triesch
PublisherSpringer Verlag
Number of pages10
ISBN (Print)9783319976273
Publication statusPublished - 2018
Event15th International Conference on the Simulation of Adaptive Behavior, SAB 2018 - Frankfurt/Main, Germany
Duration: 2018 Aug 142018 Aug 17

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume10994 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference15th International Conference on the Simulation of Adaptive Behavior, SAB 2018


  • Body–limb coordination
  • High-speed locomotion
  • Quadruped locomotion


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