ArticleScientific reports2019
Body-limb coordination mechanism underlying speed-dependent gait transitions in sea roaches.
Article in Scientific reports, 2019. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 3 papers.
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Who cites it
3 citing papers in PubMed.
- Bionic Multi-Legged Robots with Flexible Bodies: Design, Motion, and Control.Biomimetics (Basel, Switzerland) · 2024Review
- Spontaneous Gait Transitions of Sprawling Quadruped Locomotion by Sensory-Driven Body-Limb Coordination Mechanisms.Frontiers in neurorobotics · 2021Article
- Sprawling Quadruped Robot Driven by Decentralized Control With Cross-Coupled Sensory Feedback Between Legs and Trunk.Frontiers in neurorobotics · 2020Article
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Authors and funding
4 authors.
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No grant is acknowledged in the PubMed record.
Abstract
The sea roach is an isopod with 14 legs; owing to its many degrees of freedom and coordination thereof, it can walk rapidly on rough terrain. Although there likely exists a remarkable decentralized control mechanism that facilitates fast and adaptive locomotion of sea roaches, it still remains elusive. To address this issue, we performed behavioural experiments and revealed that sea roaches often change their gait patterns depending on the locomotion speed. We suggest that the bending of the body trunk in the pitch direction is essential for the gait transitions, and we propose a decentralized control mechanism for body-limb coordination. We demonstrate this with a sea-roach-like robot whose gait transition is achieved by the proposed mechanism. This mechanism has some points in common with control mechanisms proposed for other legged animals. Thus, our findings will help unveil the common principle of legged locomotion and aid the design of multi-legged robots that move like animals.
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