Undulatory swimming locomotion driven by CPG with multimodal local sensory feedback

Kyoichi Akiyama, Kotaro Yasui, Jonathan Arreguit, Laura Paez, Kamilo Melo, Takeshi Kano, Auke Jan Ijspeert, Akio Ishiguro

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

1 Citation (Scopus)


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.

Original languageEnglish
Title of host publicationBiomimetic and Biohybrid Systems - 7th International Conference, Living Machines 2018, Proceedings
EditorsNathan Lepora, Vasiliki Vouloutsi, Anna Mura, Paul F. Verschure, Jose Halloy, Michael Mangan, Tony J. Prescott
PublisherSpringer Verlag
Number of pages5
ISBN (Print)9783319959719
Publication statusPublished - 2018
Event7th International Conference on Biomimetic and Biohybrid Systems, 2018 - Paris, France
Duration: 2018 Jul 172018 Jul 20

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume10928 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other7th International Conference on Biomimetic and Biohybrid Systems, 2018


  • Central pattern generators
  • Multimodal local sensory feedback
  • Undulatory swimming locomotion

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


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