Spontaneous Gait Transitions of Sprawling Quadruped Locomotion by Sensory-Driven Body–Limb Coordination Mechanisms

Deciphering how quadrupeds coordinate their legs and other body parts, such as the trunk, head, and tail (i.e., body–limb coordination), can provide informative insights to improve legged robot mobility. In this study, we focused on sprawling locomotion of the salamander and aimed to understand the...

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Bibliographic Details

Published in:	Frontiers in Neurorobotics
Main Authors:	Shura Suzuki, Takeshi Kano, Auke J. Ijspeert, Akio Ishiguro
Format:	Article
Language:	English
Published:	Frontiers Media S.A. 2021-07-01
Subjects:	salamander locomotion body-limb coordination gait transition decentralized control sensory feedback control
Online Access:	https://www.frontiersin.org/articles/10.3389/fnbot.2021.645731/full