Analysis of the terrestrial locomotion of a salamander robot

Karakasiliotis, Konstantinos; Ijspeert, Auke Jan

doi:10.1109/iros.2009.5354220

Cited by 31 publications

(26 citation statements)

References 10 publications

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“…However, both the model and the robot showed that there is a maximum value of bending after which the stride length starts to decay (Fig. 3b in Karakasiliotis and Ijspeert 2009). To a large extent, this decelerating performance is a result of the "double crank" mechanism used for the limbs (i.e., feet positions are directly coupled to spinal kinematics).…”

Section: Terrestrial Steppingmentioning

confidence: 99%

“…Lateral bending during forward walking Experiments with a kinematic model of Salamandra robotica II and the real robot showed that higher trunk bending yields greater stride length (Karakasiliotis and Ijspeert 2009;Crespi et al 2013. However, both the model and the robot showed that there is a maximum value of bending after which the stride length starts to decay (Fig.…”

Section: Terrestrial Steppingmentioning

confidence: 99%

“…From the short list of salamander-like robots, Salamandra robotica II (Crespi et al 2013;Karakasiliotis and Ijspeert 2009) is the only one that addressed questions related to kinematics. Its predecessor, Salamandra robotica I (Ijspeert et al 2007) was used mainly to demonstrate walking and swimming gaits generated by a model of the neuronal circuits which enable the transition between these two gaits.…”

Section: Salamander-like Robots and Controlmentioning

confidence: 99%

“…A simplified version of this CPG model was used later by Crespi et al (2013). Karakasiliotis and Ijspeert (2009) used a simple sinebased controller. Both types of control, however, use the same principles of movement generation.…”

Section: Salamander-like Robots and Controlmentioning

confidence: 99%

“…Higher body bending yields greater variability in the distance between the diagonal feet in stance (Fig. 4a in Karakasiliotis and Ijspeert 2009) which, in turn, yields greater ground slipping. Such slipping due to trunk bending is avoided in salamanders primarily through knee/ankle extension and flexion at the beginning and midway of the stance respectively (see Sect.…”

Section: Terrestrial Steppingmentioning

confidence: 99%

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Where are we in understanding salamander locomotion: biological and robotic perspectives on kinematics

et al. 2012

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Salamanders have captured the interest of biologists and roboticists for decades because of their ability to locomote in different environments and their resemblance to early representatives of tetrapods. In this article, we review biological and robotic studies on the kinematics (i.e., angular profiles of joints) of salamander locomotion aiming at three main goals: (i) to give a clear view of the kinematics, currently available, for each body part of the salamander while moving in different environments (i.e., terrestrial stepping, aquatic stepping, and swimming), (ii) to examine what is the status of our current knowledge and what remains unclear, and (iii) to discuss how much robotics and modeling have already contributed and will potentially contribute in the future to such studies.

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Section: Terrestrial Steppingmentioning

confidence: 99%

Section: Terrestrial Steppingmentioning

confidence: 99%

Section: Salamander-like Robots and Controlmentioning

confidence: 99%

Section: Salamander-like Robots and Controlmentioning

confidence: 99%

Section: Terrestrial Steppingmentioning

confidence: 99%

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Where are we in understanding salamander locomotion: biological and robotic perspectives on kinematics

et al. 2012

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Lateral undulation of the flexible spine of sprawling posture vertebrates

Wang

Manoonpong

et al. 2018

J Comp Physiol A

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Sprawling posture vertebrates have a flexible spine that bends the trunk primarily in the horizontal plane during locomotion. By coordinating cyclical lateral trunk flexion and limb movements, these animals are very mobile and show extraordinary maneuverability. The dynamic and static stability displayed in complex and changing environments are highly correlated with such lateral bending patterns. The axial dynamics of their compliant body can also be critical for achieving energy-efficient locomotion at high velocities. In this paper, lateral undulation is used to characterize the bending pattern. The production of ground reaction forces (GRFs) and the related center of mass (COM) dynamics during locomotion are the fundamental mechanisms to be considered. Mainly based on research on geckos, which show unrestricted movement in three-dimensional space, we review current knowledge on the trunk flexibility and waveforms of lateral trunk movement. We investigate locomotion dynamics and mechanisms underlying the lateral undulation pattern. This paper also provides insights into the roles of this pattern in obtaining flexible and efficient walking, running, and climbing. Finally, we discuss the potential application of lateral undulation patterns to bio-inspired robotics.

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From “ear” to there: a review of biorobotic models of auditory processing in lizards

Shaikh

Hallam

Christensen‐Dalsgaard

2016

Biol Cybern

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The peripheral auditory system of lizards has been extensively studied, because of its remarkable directionality. In this paper, we review the research that has been performed on this system using a biorobotic approach. The various robotic implementations developed to date, both wheeled and legged, of the auditory model exhibit strong phonotactic performance for two types of steering mechanisms-a simple threshold decision model and Braitenberg sensorimotor cross-couplings. The Braitenberg approach removed the need for a decision model, but produced relatively inefficient robot trajectories. Introducing various asymmetries in the auditory model reduced the efficiency of the robot trajectories, but successful phonotaxis was maintained. Relatively loud noise distractors degraded the trajectory efficiency and above-threshold noise resulted in unsuccessful phonotaxis. Machine learning techniques were applied to successfully compensate for asymmetries as well as noise distractors. Such techniques were also successfully used to construct a representation of auditory space, which is crucial for sound localisation while remaining stationary as opposed to phonotaxis-based localisation. The peripheral auditory model was furthermore found to adhere to an auditory scaling law governing the variation in frequency response with respect to physical ear separation. Overall, the research to date paves the way towards investigating the more fundamental topic of auditory metres versus auditory maps, and the existing robotic implementations can act as tools to compare the two approaches.

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Analysis of the terrestrial locomotion of a salamander robot

Cited by 31 publications

References 10 publications

Where are we in understanding salamander locomotion: biological and robotic perspectives on kinematics

Where are we in understanding salamander locomotion: biological and robotic perspectives on kinematics

Lateral undulation of the flexible spine of sprawling posture vertebrates

From “ear” to there: a review of biorobotic models of auditory processing in lizards

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