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Undulatory Swimming Locomotion Driven by CPG with Multimodal Local Sensory Feedback

  • Kyoichi AkiyamaEmail author
  • Kotaro Yasui
  • Jonathan Arreguit
  • Laura Paez
  • Kamilo Melo
  • Takeshi Kano
  • Auke Jan Ijspeert
  • Akio Ishiguro
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10928)

Abstract

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.

Keywords

Undulatory swimming locomotion Central pattern generators Multimodal local sensory feedback 

Notes

Acknowledgement

This work was supported by Human Frontier Science Program(RGP0027/2017) and Japan Science and Technology Agency, CREST (JPMJCR14D5).

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Copyright information

© Springer International Publishing AG, part of Springer Nature 2018

Authors and Affiliations

  • Kyoichi Akiyama
    • 1
    Email author
  • Kotaro Yasui
    • 1
  • Jonathan Arreguit
    • 2
  • Laura Paez
    • 2
  • Kamilo Melo
    • 2
  • Takeshi Kano
    • 1
  • Auke Jan Ijspeert
    • 2
  • Akio Ishiguro
    • 1
  1. 1.Research Institute of Electrical CommunicationTohoku UniversitySendaiJapan
  2. 2.EPFL STI BioRobLausanneSwitzerland

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