ArticlePloS one2017
Decentralized control scheme for myriapod robot inspired by adaptive and resilient centipede locomotion.
Article in PloS one, 2017. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 12 papers.
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Who cites it
12 citing papers in PubMed.
- Microrobots for Precision Diagnosis and Treatment in the Digestive System: A Review of Actuation Mechanisms, Structural Design, Preclinical and Translational Applications.Micromachines · 2026Review
- Theoretical Dynamics Modeling of Pitch Motion and Obstacle-Crossing Capability Analysis for Articulated Tracked Vehicles Based on Myriapod Locomotion Mechanism.Biomimetics (Basel, Switzerland) · 2026Article
- Bioinspired Mechanisms and Actuation of Soft Robotic Crawlers.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2025Review
- Maneuverable and Efficient Locomotion of a Myriapod Robot with Variable Body-Axis Flexibility via Instability and Bifurcation.Soft robotics · 2023Article
- Self-propulsion via slipping: Frictional swimming in multilegged locomotors.Proceedings of the National Academy of Sciences of the United States of America · 2023Article
- Active and passive mechanics for rugose terrain traversal in centipedes.The Journal of experimental biology · 2023Article
- Leg-body coordination strategies for obstacle avoidance and narrow space navigation of multi-segmented, legged robots.Frontiers in neurorobotics · 2023Article
- Adaptive Centipede Walking via Synergetic Coupling Between Decentralized Control and Flexible Body Dynamics.Frontiers in robotics and AI · 2022Article
- Generation of Direct-, Retrograde-, and Source-Wave Gaits in Multi-Legged Locomotion in a Decentralized Manner via Embodied Sensorimotor Interaction.Frontiers in neural circuits · 2021Article
- General Distributed Neural Control and Sensory Adaptation for Self-Organized Locomotion and Fast Adaptation to Damage of Walking Robots.Frontiers in neural circuits · 2020Article
- Sea star inspired crawling and bouncing.Journal of the Royal Society, Interface · 2020Article
- Decoding the essential interplay between central and peripheral control in adaptive locomotion of amphibious centipedes.Scientific reports · 2019Article
Corrections and comments
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Authors and funding
5 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Recently, myriapods have attracted the attention of engineers because mobile robots that mimic them potentially have the capability of producing highly stable, adaptive, and resilient behaviors. The major challenge here is to develop a control scheme that can coordinate their numerous legs in real time, and an autonomous decentralized control could be the key to solve this problem. Therefore, we focus on real centipedes and aim to design a decentralized control scheme for myriapod robots by drawing inspiration from behavioral experiments on centipede locomotion under unusual conditions. In the behavioral experiments, we observed the response to the removal of a part of the terrain and to amputation of several legs. Further, we determined that the ground reaction force is significant for generating rhythmic leg movements; the motion of each leg is likely affected by a sensory input from its neighboring legs. Thus, we constructed a two-dimensional model wherein a simple local reflexive mechanism was implemented in each leg. We performed simulations by using this model and demonstrated that the myriapod robot could move adaptively to changes in the environment and body properties. Our findings will shed new light on designing adaptive and resilient myriapod robots that can function under various circumstances.
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