A Minimal Model Describing Hexapedal Interlimb Coordination: The Tegotae-Based Approach

• DOI: 10.3389/fnbot.2017.00029
• Publication Date: 2017-06-09T04:07:54Z
• Authors: Dai Owaki; Masashi Goda; Sakiko Miyazawa; Akio Ishiguro
• Keywords: Hexapod; Motor coordination; Motor Control

Insects exhibit adaptive and versatile locomotion despite their minimal neural computing. Such locomotor patterns are generated via coordination between leg movements, i.e., an interlimb coordination, which is largely controlled in a distributed manner by circuits located thoracic ganglia. However, the mechanism responsible for still remains elusive. Understanding this will help us to elucidate fundamental control principle of animals' agile realize robots with legs that truly could not be developed solely conventional theories. This study aims at providing "minimal" model underlying hexapedal locomotion, hope single satisfactorily reproduce various aspects insect locomotion. To end, we introduce novel concept named "Tegotae," Japanese describing extent perceived reaction matches expectation. By using Tegotae-based approach, show surprisingly systematic design local sensory feedback mechanisms essential can realized. We also use hexapod robot our mathematical reproduces insects' gait patterns.