The role of the mechanical system in control: a hypothesis of self-stabilization in hexapedal runners

No abstract is available for this paper.

• Publication year

  1999

• Venue

  Philosophical Transactions of the Royal Society B

• Publication date

  1999-05-29

• Fields of study

  Biology, Physics, Engineering

• Identifiers
  DOI 10.1098/RSTB.1999.0437
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

• The brain has a body: adaptive behavior emerges from interactions of nervous system, body and environment.

  1997cited by this paper
• Three-dimensional kinematics and limb kinetic energy of running cockroaches.

  1997influential reference
• Coordination in a six-legged walking system. Simple solutions to complex problems by exploitation of physical properties.

  1996cited by this paper
• Biological Neural Networks in Invertebrate Neuroethology and Robotics. Editors: Randall D. Beer, Roy E. Ritzmann, Thomas McKenna (Academic Press, Inc., Harcourt Brace Jovanovich, 1993)

  1996cited by this paper
• Invertebrate Locomotor Systems

  1996cited by this paper
• Adaptive properties of "hard-wired" neuronal systems

  1995cited by this paper
• Design of a small pneumatic walking robot

  1995cited by this paper
• Maximum single leg force production: cockroaches righting on photoelastic gelatin

  1995cited by this paper
• STEPPING PATTERNS IN ANTS - INFLUENCE OF SPEED AND CURVATURE

  1994cited by this paper
• Dynamic and static stability in hexapedal runners.

  1994influential reference
• Integration of individual leg dynamics with whole body movement in arthropod locomotion

  1993influential reference
• Running springs: speed and animal size.

  1993cited by this paper
• Mechanics of a rapid running insect: two-, four- and six-legged locomotion.

  1991influential reference
• Leg design in hexapedal runners.

  1991influential reference
• Three Uses for Springs in Legged Locomotion

  1990cited by this paper
• Mechanics of six-legged runners.

  1990influential reference
• The mechanics of running: how does stiffness couple with speed?

  1990cited by this paper
• The spring-mass model for running and hopping.

  1989cited by this paper
• Locomotion Energetics of the Ghost Crab: II. Mechanics of the Centre of Mass During Walking and Running

  1987cited by this paper
• Legged robots

  1986cited by this paper
• Force and motion management in legged locomotion

  1985cited by this paper
• Mechanical work in terrestrial locomotion: two basic mechanisms for minimizing energy expenditure.

  1977cited by this paper
• The Mechanism of Rapid Running in the Ghost Crab, Ocypode Ceratophthalma

  1973cited by this paper
• Size and shape

  1971cited by this paper
• Studies in the Mechanics of the Tetrapod Skeleton

  1944cited by this paper

• Passive Dynamics of the Head, Neck and Forelimb in Equine Foetuses—An Observational Study

  2023cites this paper
• Active and passive mechanics for rugose terrain traversal in centipedes.

  2023cites this paper
• Control of Forelimb and Hindlimb Movements and Their Coordination during Quadrupedal Locomotion across Speeds in Adult Spinal Cats

  2022cites this paper
• Analysis and control of a running spring-mass model with a trunk based on virtual pendulum concept

  2022cites this paper
• Pace Running of a Quadruped Robot Driven by Pneumatic Muscle Actuators: An Experimental Study

  2022cites this paper
• Lateral Undulation of the Bendable Body of a Gecko-Inspired Robot for Energy-Efficient Inclined Surface Climbing

  2021cites this paper
• The neuroecology of the water-to-land transition and the evolution of the vertebrate brain

  2021cites this paper
• What Is Robotics? Why Do We Need It and How Can We Get It?

  2021cites this paper
• Fast-moving piezoelectric micro-robotic fish with double caudal fins

  2021cites this paper
• Design, Experiments and Implementation of Reinforcement Learning in RSTAR Robot for Search and Rescue Applications Design, Experiments and Implementation of Reinforcement Learning in RSTAR Robot for Search and Rescue Applications Crawling Between Two Walls

  2020cites this paper
• Impact of slope on dynamics of running and climbing

  2020cites this paper
• Analysis and Control of a Body-Attached Spring-Mass Runner Based on Central Pivot Point Approach

  2020cites this paper
• Control strategies of gecko’s toe in response to reduced gravity

  2020cites this paper
• Tutorial Review of Bio-Inspired Approaches to Robotic Manipulation for Space Debris Salvage

  2020cites this paper
• Survey of biomechanical aspects of arthropod terrestrialisation - Substrate bound legged locomotion.

  2020cites this paper
• A New Perspective Analysis of Variations in Cockroach Motion Kinematics Using Precision Kinematic Image Processing

  2019cites this paper
• Three-dimensional walking of a simulated muscle-driven quadruped robot with neuromorphic two-level central pattern generators

  2019cites this paper
• Flying STAR, a Hybrid Crawling and Flying Sprawl Tuned Robot

  2019cites this paper
• Morphological and kinematic specializations of walking frogs.

  2018cites this paper
• A simulation-based study on longitudinal gust response of flexible flapping wings

  2018cites this paper
• The effects of feedback on stability and maneuverability of a phase-reduced model for cockroach locomotion

  2018cites this paper
• Dynamic traversal of large gaps by insects and legged robots reveals a template

  2018cites this paper
• Biomimetics and the Evolution of Robotics and Intelligent Systems

  2018cites this paper
• Honeybees Prefer to Steer on a Smooth Wall With Tetrapod Gaits

  2018cites this paper
• Rising STAR: A Highly Reconfigurable Sprawl Tuned Robot

  2018cites this paper
• A simulation-based study on longitudinal gust response of flexible flapping wings

  2018cites this paper
• Legged Robots with Bioinspired Morphology

  2017cites this paper
• Walking with wider steps changes foot placement control, increases kinematic variability and does not improve linear stability

  2017cites this paper
• Mechanical Design, Prototyping, and Validation of A Martian Robot Mining System

  2017cites this paper
• Adaptive biped locomotion from a single demonstration using motion primitives

  2016cites this paper
• A new biarticular actuator design facilitates control of leg function in BioBiped3

  2016cites this paper
• Biologically Inspired Robotics

  2016cites this paper
• Design and Control of an Agile Robotic Fish With Integrative Biomimetic Mechanisms

  2016cites this paper
• Feed-forward motor control of ultrafast, ballistic movements

  2016cites this paper
• Design of a milli-scale, biomimetic platform for climbing on a rough surface

  2015cites this paper
• A force threshold-based position controller for legged locomotion

  2015cites this paper
• Design and implementation of a quadruped robot insect

  2015cites this paper
• General and Specific Strategies Used to Facilitate Locomotor Maneuvers

  2015cites this paper
• Sensory feedback in cockroach locomotion: current knowledge and open questions

  2015cites this paper
• Mechanical cognitivization: a kinematic system proof of concept

  2015cites this paper
• Towards highly-tuned mobility in multiple domains with a dynamical legged platform

  2015influential citation
• Sensory processing within cockroach antenna enables rapid implementation of feedback control for high-speed running maneuvers

  2015cites this paper
• Soft-Body Robot Fish

  2015cites this paper
• Biorobotics: Using robots to emulate and investigate agile locomotion

  2014cites this paper
• Biorobotics : Using robots to emulate and investigate agile animal locomotion

  2014cites this paper
• Enhancing Robustness through Mechanical Cognitivization

  2014cites this paper
• A Hybrid Dynamical Systems Theory for Legged Locomotion

  2014cites this paper
• Shifts in stability and control effectiveness during evolution of Paraves support aerial maneuvering hypotheses for flight origins

  2014cites this paper
• Neural representation of muscle dynamics in voluntary movement control

  2014cites this paper
• A Human Augmentation Approach to Gait Restoration

  2014cites this paper
• Event-Selected Vector Field Discontinuities Yield Piecewise-Differentiable Flows

  2014cites this paper
• On the dynamics of a quadruped robot model with impedance control: Self-stabilizing high speed trot-running and period-doubling bifurcations

  2014cites this paper
• Lower limb wearable robots for physiological gait restoration : state of the art and motivations

  2014cites this paper
• High speed trot-running: Implementation of a hierarchical controller using proprioceptive impedance control on the MIT Cheetah

  2014cites this paper
• Progress Toward Mobility in Microfabricated Millirobots

  2013cites this paper
• A sagittal plane hexapedal running model: Towards robust locomotion with feedforward actuated serial elastic hips and serial elastic telescoping legs

  2013cites this paper
• STAR, a sprawl tuned autonomous robot

  2013cites this paper
• Motion prediction and dynamic stability analysis of human walking : the effect of leg property

  2013cites this paper
• A Distributed Local-Leg Feedback Algorithm for Robust Walking on Uneven Terrain

  2013cites this paper
• Lower limb wearable robots for physiological gait restoration: state of the art and motivations

  2013cites this paper
• Instantaneous kinematic phase reflects neuromechanical response to lateral perturbations of running cockroaches

  2013cites this paper
• Coping with disturbances.

  2013cites this paper
• Diseño de pierna articulada para el planteamiento de medios alternativos de transporte

  2013cites this paper
• Terrestrial locomotion in arachnids.

  2012cites this paper
• Kinematics of walking in the hermit crab, Pagurus pollicarus.

  2012cites this paper
• A survey of bio-inspired compliant legged robot designs

  2012cites this paper
• The implications of embodiment for behavior and cognition: animal and robotic case studies

  2012cites this paper
• Neuromuscular control of free-flight yaw turns in the hawkmoth Manduca sexta

  2012cites this paper
• Bioinspiration and emerging actuator technologies

  2012cites this paper
• The load distribution among three legs on the wall: model predictions for cockroaches

  2011cites this paper
• Piscivorous cyprinid fish modulates suction feeding kinematics to capture elusive prey.

  2011cites this paper
• The gait of a hexapod robot and its obstacle-surmounting capability

  2011cites this paper
• Sprawl angle in simplified models of vertical climbing: Implications for robots and roaches

  2011cites this paper
• Full dynamics for postural control and running A single muscle ' s multifunctional control potential of body

  2011cites this paper
• The European Future Technologies Conference and Exhibition 2011 Co-evolution of Morphology and Control of a Wearable Robot for Human Locomotion Assistance Exploiting Variable Impedance Actuators

  2011cites this paper
• Development of a multi-leg type micro rescue robot for disaster victim search

  2011cites this paper
• Dynamic Vertical Climbing: Bioinspiration, Design, and Analysis

  2011cites this paper
• REPRESENTACIÓN DE LA LOCOMOCIÓN ANIMAL TERRESTRE COMO ESTRATEGIA DE ANÁLISIS DEL MOVIMIENTO PARA EL DESARROLLO DE SIMULADORES BIOMIMÉTICOS

  2011cites this paper
• A single muscle's multifunctional control potential of body dynamics for postural control and running

  2011cites this paper
• Rate-dependent control strategies stabilize limb forces during human locomotion

  2010cites this paper
• iscivorous cyprinid fish modulates suction feeding kinematics to capture lusive prey am

  2010cites this paper
• A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots

  2010cites this paper
• Supplementary materials for “ A simplified neuro-mechanical model for insect locomotion : Feedforward stability and proprioceptive feedback ”

  2010influential citation
• Models and architectures for motor control: Simple or complex?

  2010cites this paper
• Insects running on elastic surfaces

  2010cites this paper
• A Whegs Robot Featuring a Passively Compliant, Actively Controlled Body Joint

  2010cites this paper
• Biomechanics and electrophysiology of sensory regulation during locomotion in a novel in vitro spinal cord-hindlimb preparation

  2010cites this paper
• X-RHex: A Highly Mobile Hexapedal Robot for Sensorimotor Tasks

  2010cites this paper
• Biologically-inspired locomotion of a 2g hexapod robot

  2010cites this paper
• A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for the lower limbs

  2010cites this paper
• Optimal speeds for walking and running, and walking on a moving walkway.

  2009cites this paper
• DASH: A dynamic 16g hexapedal robot

  2009cites this paper
• A rigorous dynamical-systems-based analysis of the self-stabilizing influence of muscles.

  2009cites this paper
• Neuromechanical Control Architectures of Arthropod Locomotion

  2009cites this paper
• A parametric study on the passive dynamics of straight-ahead level-ground quadrupedal running

  2009cites this paper
• Alternative Tasks of the Insect Arolium with Special Reference to Hymenoptera

  2009cites this paper
• Leg recirculation in horizontal plane locomotion

  2009influential citation
• A parametric study on the rolling motion of dynamically running quadrupeds during pronking

  2009cites this paper
• Computational and neural principles for human motor control

  2009cites this paper
• Design and fabrication of multi-material structures for bioinspired robots

  2009cites this paper