Undulatory Swimming Locomotion Driven by CPG with Multimodal Local Sensory Feedback
| Autor: | Jonathan Arreguit, Kamilo Melo, Akio Ishiguro, Auke Jan Ijspeert, Laura Paez, Kyoichi Akiyama, Kotaro Yasui, Takeshi Kano |
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| Rok vydání: | 2018 |
| Předmět: |
0301 basic medicine
Swimming robot Central pattern generator Sensory system Biology central pattern generators undulatory swimming locomotion 03 medical and health sciences 030104 developmental biology 0302 clinical medicine Rhythm CpG site Pulmonary stretch receptors networks Neuroscience multimodal local sensory feedback 030217 neurology & neurosurgery |
| Zdroj: | Biomimetic and Biohybrid Systems ISBN: 9783319959719 Living Machines |
| DOI: | 10.1007/978-3-319-95972-6_1 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
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