In this study, illustrative experiments were performed to explain the physical aspect of the
gait adjustment mechanism for quadrupeds in nature. The major contribution of this work …

In this study, we introduce a simple self-controlled quasi-quadruped robot inspired by
sensory feedback mechanisms in the hindlimb of decerebrate walking quadrupeds. The …

In this study, we constructed a minimal model to clarify the role of the animal body and motor
neurons in the generation of synchronized periodic motions. The novel contribution of this …

This article describes a minimalistic legged robot that generates three-dimensional gaits
using a purely physical mechanism, without a sensor or microprocessor. The robot has an …

This article describes a decentralized controller that generates periodic motion patterns of
general mechanical systems with multiple actuators, and its extremely simple …

This article describes an extremely simple controller as a minimal example of decentralized
motor coordination and gait generation. The control strategy is based on the stretch reflex in …

In this paper, we develop an extremely simple earthworm-like robot as a minimal model of
the wave generation principle of earthworms. The major contribution of this work is to show …

Controlling soft robots is a challenging task, for it is embedded in a highly coupled system
composed of elastic body, controller, and environment. The system is often unsteady …

The aim of this study was to determine the conditions that allow for the generation of gait in
quadruped animals using a brainless simple quasi-quadruped robot having two functions of …

抄録 This paper is concerned with nonlinear analysis of a 1-dof vertical hopping robot,
composed of its body, foot and a DC motor with crank mechanism. We show that its hopping …