ArticleFrontiers in neurorobotics2017
A Minimal Model Describing Hexapedal Interlimb Coordination: The Tegotae-Based Approach.
Article in Frontiers in neurorobotics, 2017. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 19 papers.
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19 citing papers in PubMed.
- SPINDER: an open-source 18-DoF hexapod robot with hierarchical central pattern generator control and analytic inverse kinematics.Scientific reports · 2026Article
- Bio-Inspired Central Pattern Generator for Adaptive Gait Generation and Stability in Humanoid Robots on Sloped Surfaces.Biomimetics (Basel, Switzerland) · 2025Article
- Hierarchical reinforcement learning with central pattern generator for enabling a quadruped robot simulator to walk on a variety of terrains.Scientific reports · 2025Article
- Foot trajectory as a key factor for diverse gait patterns in quadruped robot locomotion.Scientific reports · 2025Article
- Article
- Robust and reusable self-organized locomotion of legged robots under adaptive physical and neural communications.Frontiers in neural circuits · 2023Article
- Adaptive Interlimb Coordination Mechanism for Hexapod Locomotion Based on Active Load Sensing.Frontiers in neurorobotics · 2022Article
- Insect-Inspired Robots: Bridging Biological and Artificial Systems.Sensors (Basel, Switzerland) · 2021Review
- Leg amputation modifies coordinated activation of the middle leg muscles in the cricket Gryllus bimaculatus.Scientific reports · 2021Article
- Tegotae-Based Control Produces Adaptive Inter- and Intra-limb Coordination in Bipedal Walking.Frontiers in neurorobotics · 2021Article
- Descending and Ascending Signals That Maintain Rhythmic Walking Pattern in Crickets.Frontiers in robotics and AI · 2021Article
- A Comparative Study of Adaptive Interlimb Coordination Mechanisms for Self-Organized Robot Locomotion.Frontiers in robotics and AI · 2021Article
- Adaptive and Energy-Efficient Optimal Control in CPGs Through Tegotae-Based Feedback.Frontiers in robotics and AI · 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
- Flexible Spiking CPGs for Online Manipulation During Hexapod Walking.Frontiers in neurorobotics · 2020Article
- Sea star inspired crawling and bouncing.Journal of the Royal Society, Interface · 2020Article
- Body-limb coordination mechanism underlying speed-dependent gait transitions in sea roaches.Scientific reports · 2019Article
- Integrative Biomimetics of Autonomous Hexapedal Locomotion.Frontiers in neurorobotics · 2019Article
- Simple analytical model reveals the functional role of embodied sensorimotor interaction in hexapod gaits.PloS one · 2018Article
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4 authors.
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Abstract
Insects exhibit adaptive and versatile locomotion despite their minimal neural computing. Such locomotor patterns are generated via coordination between leg movements, i.e., an interlimb coordination, which is largely controlled in a distributed manner by neural circuits located in thoracic ganglia. However, the mechanism responsible for the interlimb coordination still remains elusive. Understanding this mechanism will help us to elucidate the fundamental control principle of animals' agile locomotion and to realize robots with legs that are truly adaptive and could not be developed solely by conventional control theories. This study aims at providing a "minimal" model of the interlimb coordination mechanism underlying hexapedal locomotion, in the hope that a single control principle could satisfactorily reproduce various aspects of insect locomotion. To this end, we introduce a novel concept we named "Tegotae," a Japanese concept describing the extent to which a perceived reaction matches an expectation. By using the Tegotae-based approach, we show that a surprisingly systematic design of local sensory feedback mechanisms essential for the interlimb coordination can be realized. We also use a hexapod robot we developed to show that our mathematical model of the interlimb coordination mechanism satisfactorily reproduces various insects' gait patterns.
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