TY - GEN
T1 - Undulatory swimming locomotion driven by CPG with multimodal local sensory feedback
AU - Akiyama, Kyoichi
AU - Yasui, Kotaro
AU - Arreguit, Jonathan
AU - Paez, Laura
AU - Melo, Kamilo
AU - Kano, Takeshi
AU - Ijspeert, Auke Jan
AU - Ishiguro, Akio
N1 - Funding Information:
Acknowledgement. This work was supported by Human Frontier Science Program (RGP0027/2017) and Japan Science and Technology Agency, CREST (JPMJCR14D5).
Publisher Copyright:
© Springer International Publishing AG, part of Springer Nature 2018.
PY - 2018
Y1 - 2018
N2 - Many species such as eels, lampreys and leeches generate undulatory swimming locomotion adaptively. It is said that this coordinated locomotive patterns are produced by central pattern generators (CPGs) which generate rhythmic activities without any rhythmic inputs. Additionally, there are some local sensors underlying in their bodies (e.g. lampreys:stretch receptors, larval zebra-fish:lateral organs). We assumed that such several sensors likely cooperate and influence their adaptive locomotion with CPGs. However, there is still very little understanding how CPGs and multimodal local sensors interact for adaptive locomotive patterns. In this study, we aim to design a minimal CPG model for a swimming robot with multimodal local sensory feedback which can produce an adaptive undulatory swimming locomotion. Finally, we validated it under different conditions via 2D simulation.
AB - Many species such as eels, lampreys and leeches generate undulatory swimming locomotion adaptively. It is said that this coordinated locomotive patterns are produced by central pattern generators (CPGs) which generate rhythmic activities without any rhythmic inputs. Additionally, there are some local sensors underlying in their bodies (e.g. lampreys:stretch receptors, larval zebra-fish:lateral organs). We assumed that such several sensors likely cooperate and influence their adaptive locomotion with CPGs. However, there is still very little understanding how CPGs and multimodal local sensors interact for adaptive locomotive patterns. In this study, we aim to design a minimal CPG model for a swimming robot with multimodal local sensory feedback which can produce an adaptive undulatory swimming locomotion. Finally, we validated it under different conditions via 2D simulation.
KW - Central pattern generators
KW - Multimodal local sensory feedback
KW - Undulatory swimming locomotion
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U2 - 10.1007/978-3-319-95972-6_1
DO - 10.1007/978-3-319-95972-6_1
M3 - Conference contribution
AN - SCOPUS:85050474381
SN - 9783319959719
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 1
EP - 5
BT - Biomimetic and Biohybrid Systems - 7th International Conference, Living Machines 2018, Proceedings
A2 - Lepora, Nathan
A2 - Vouloutsi, Vasiliki
A2 - Mura, Anna
A2 - Verschure, Paul F.
A2 - Halloy, Jose
A2 - Mangan, Michael
A2 - Prescott, Tony J.
PB - Springer Verlag
T2 - 7th International Conference on Biomimetic and Biohybrid Systems, 2018
Y2 - 17 July 2018 through 20 July 2018
ER -