Quadrupeds have versatile gait patterns, depending on the locomotion speed,
environmental conditions and animal species. These locomotor patterns are generated via
the coordination between limbs and are partly controlled by an intraspinal neural network …

This is the first study of a real physical kneed bipedal robot that exhibits passive-dynamic
running (PDR), ie, a bipedal gait with a flight phase in a device without an actuator. By
carefully designing the properties of the elastic elements implemented into the hip joints and …

This is the first study of a real physical kneed bipedal robot that exhibits passive dynamic
running (PDR). Passive dynamic walking (PDW), which has its roots in the pioneering
research of McGeer, intrinsically offers not only nonlinear phenomena such as the pull-in …

The control and mechanical systems of an embodied agent should be tightly coupled so as
to emerge useful functionalities such as adaptivity. This indicates that the mechanical system
as well as the control system should be responsible for a certain amount of “computation” for …

Versatile gait patterns that depend on the locomo-tion speed, environmental conditions, and
animal species are observed in quadrupeds. Locomotor patterns are generated via the
interlimb coordination, which is partially controlled by an intraspinal neural network called …

In this study, we discuss the common stabilization mechanism underlying passive dynamic
walking (PDW) and passive dynamic running (PDR), focusing on the feedback structures in
analytical Poincare¿ maps. To this end, we have derived linearized analytical Poincare …

Recently, it has been widely recognized that control and mechanical systems cannot be
designed separately due to their tight interdependency. However, there still leaves much to
be understood about how well-balanced coupling between control and mechanical systems …

The manner in which quadrupeds change their locomotive patterns—walking, trotting, and
galloping—with changing speed is poorly understood. In this paper, we provide evidence for
interlimb coordination during gait transitions using a quadruped robot for which coordination …

In this paper, we propose an idea which can solve the complexity of the overlapping
situation observed in control system of living things. We introduce an another element
between controlled object and control law. This newly introduced element is named as …

Despite its appeal, a systematic design of an autonomous decentralized control system is
yet to be realized. To bridge this gap, we have so far employed a “back-to-basics” approach
inspired by true slime mold, a primitive living creature whose behavior is purely controlled by …