Adaptive Interlimb Coordination Mechanism for Hexapod Locomotion Based on Active Load Sensing.

ABSTRACT: Insects can flexibly coordinate their limbs to adapt to various locomotor conditions, e.g., complex environments, changes in locomotion speed, and leg amputation. An interesting aspect of insect locomotion is that the gait patterns are not necessarily stereotypical but are often highly variable, e.g., searching behavior to obtain stable footholds in complex environments. Several previous studies have focused on the mechanism for the emergence of variable limb coordination patterns. However, the proposed mechanisms are complicated and the essential mechanism underlying insect locomotion remains elusive. To address this issue, we proposed a simple mathematical model for the mechanism of variable interlimb coordination in insect locomotion. The key idea of the proposed model is "decentralized

SUBMITTER: Fukuhara A 

PROVIDER: S-EPMC8860975 | biostudies-literature | 2022

REPOSITORIES: biostudies-literature