2018年
Undulatory Swimming Locomotion Driven by CPG with Multimodal Local Sensory Feedback
BIOMIMETIC AND BIOHYBRID SYSTEMS
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- 巻
- 10928
- 号
- 開始ページ
- 1
- 終了ページ
- 5
- 記述言語
- 英語
- 掲載種別
- 研究論文(国際会議プロシーディングス)
- DOI
- 10.1007/978-3-319-95972-6_1
- 出版者・発行元
- SPRINGER INTERNATIONAL PUBLISHING AG
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.
- リンク情報
- ID情報
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- DOI : 10.1007/978-3-319-95972-6_1
- ISSN : 0302-9743
- eISSN : 1611-3349
- Web of Science ID : WOS:000473805000001