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Super mode-rich locomotion: how animals navigate unpredictable environments

Research Project

Project/Area Number 21K14177
Research Category

Grant-in-Aid for Early-Career Scientists

Allocation TypeMulti-year Fund
Review Section Basic Section 21040:Control and system engineering-related
Research InstitutionTohoku University

Principal Investigator

Yasui Kotaro  東北大学, 学際科学フロンティア研究所, 助教 (70876739)

Project Period (FY) 2021-04-01 – 2024-03-31
Project Status Completed (Fiscal Year 2023)
Budget Amount *help
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2022: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2021: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Keywords適応的運動知能 / 分散・中枢融合制御 / 自律分散制御 / 自己組織化 / 生物規範型ロボティクス / 局所センサフィードバック / 自律性 / ムカデ / 脳 / 食道下神経節 / ロボット
Outline of Research at the Start

動物は,無限定な環境変化に対して,きわめて多様な運動戦略を自律的に生み出すことで,タフに動き続ける運動知能を有する.この自律的な状況判断にもとづく適応的な振る舞いの発現原理を理解するためには,脳などが担う上位の中枢制御が,どのように下位の自律分散制御系と相互に連関し合理的な運動戦略を生み出しているのかを捉える必要がある.本研究では,比較的原初的な神経系しか持たないにも関わらず超多様に振る舞うムカデをモデル生物として,そのロコモーションに内在する分散・中枢融合制御の本質を, 行動観察実験・数理モデリング・ロボット実験により構成論的に解き明かす.

Outline of Final Research Achievements

Animals can adapt to changes in their environment by autonomously generating a variety of movement strategies. To extract the control structures inherent in this adaptive motor intelligence, this study focused on centipedes and attempted to elucidate the interaction between higher-level central control, such as that performed by the brain, and lower-level autonomous distributed control through behavioral experiments and mathematical modeling. Specifically, the study demonstrated that integrating a higher-level central control rule, which regulates head movement based on sensory feedback from environmental contact, with lower-level walking control rules improved the ability to navigate rough terrain. Additionally, the research clarified the role of the brain and subesophageal ganglion in generating different patterns of body coordination during walking, running, and swimming, as well as how these are integrated with lower-level distributed control rules.

Academic Significance and Societal Importance of the Research Achievements

本研究の成果は,動物の状況適応的な振る舞いが,脳などの上位中枢からの指令と脊髄や神経節に内在する自律分散的な運動制御システムがどのように相互作用することで生み出されるのかを明らかにするものであり,動物らしい運動知能の設計のありように対して重要な示唆を与える.また,生物規範型ロボットの振る舞いの適応性や自律性を大幅に向上させる点において,工学的にも意義深い.

Report

(4 results)
  • 2023 Annual Research Report   Final Research Report ( PDF )
  • 2022 Research-status Report
  • 2021 Research-status Report
  • Research Products

    (16 results)

All 2024 2023 2022 2021 Other

All Int'l Joint Research (2 results) Journal Article (2 results) (of which Int'l Joint Research: 1 results,  Peer Reviewed: 2 results,  Open Access: 2 results) Presentation (12 results) (of which Int'l Joint Research: 3 results,  Invited: 2 results)

  • [Int'l Joint Research] オタワ大学(カナダ)

    • Related Report
      2023 Annual Research Report
  • [Int'l Joint Research] スイス連邦工科大学ローザンヌ校(スイス)

    • Related Report
      2022 Research-status Report
  • [Journal Article] A virtuous cycle between invertebrate and robotics research: perspective on a decade of Living Machines research2023

    • Author(s)
      Michael Mangan, Dario Floreano, Kotaro Yasui, Barry A Trimmer, Nick Gravish, Sabine Hauert, Barbara Webb, Poramate Manoonpong, Nicholas Stephen Szczecinski
    • Journal Title

      Bioinspiration & Biomimetics

      Volume: 18 Issue: 3 Pages: 035005-035005

    • DOI

      10.1088/1748-3190/acc223

    • Related Report
      2022 Research-status Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Adaptive Centipede Walking via Synergetic Coupling Between Decentralized Control and Flexible Body Dynamics2022

    • Author(s)
      Yasui Kotaro、Takano Shunsuke、Kano Takeshi、Ishiguro Akio
    • Journal Title

      Frontiers in Robotics and AI

      Volume: 9 Pages: 797566-797566

    • DOI

      10.3389/frobt.2022.797566

    • Related Report
      2021 Research-status Report
    • Peer Reviewed / Open Access
  • [Presentation] ムカデの探索的ナビゲーションから探る運動生成と状況判断の連関2024

    • Author(s)
      安井浩太郎,塩見こずえ
    • Organizer
      第36回自律分散システム・シンポジウム
    • Related Report
      2023 Annual Research Report
  • [Presentation] Exploring Common Control Principles Underlying Versatile Body-limb Coordination in Many-legged Locomotion2023

    • Author(s)
      Kotaro Yasui, Genta Seino, Tatsumi Yamaichi, Yusei Sugiyama, Takeshi Kano, Akio Ishiguro
    • Organizer
      The 11th International Symposium on Adaptive Motion of Animals and Machines (AMAM2023)
    • Related Report
      2023 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Centipede-inspired active sensing mechanism for exploratory navigation using antennal and body bending motion2023

    • Author(s)
      Kotaro Yasui, Kozue Shiomi
    • Organizer
      SICE Annual Conference 2023
    • Related Report
      2023 Annual Research Report
  • [Presentation] ムカデから探る自律的運動知能と多義的身体のありよう2023

    • Author(s)
      安井浩太郎
    • Organizer
      第41回日本ロボット学会学術講演会
    • Related Report
      2023 Annual Research Report
    • Invited
  • [Presentation] Towards understanding embodied navigation mechanisms in centipedes2023

    • Author(s)
      Kotaro Yasui, Kozue Shiomi
    • Organizer
      日本比較生理生化学会第45回大阪大会
    • Related Report
      2023 Annual Research Report
  • [Presentation] 動物の自律的運動知能の設計原理を求めて:ムカデを用いた事例研究2023

    • Author(s)
      安井浩太郎
    • Organizer
      第35回自律分散システム・シンポジウム
    • Related Report
      2022 Research-status Report
  • [Presentation] 多脚歩行に通底する脚と胴体の協調制御則を探る2023

    • Author(s)
      清野源太,山一竜光,杉山悠聖,安井浩太郎,加納剛史,石黒章夫
    • Organizer
      第35回自律分散システム・シンポジウム
    • Related Report
      2022 Research-status Report
  • [Presentation] ムカデの歩行制御則はヤスデにも適用できるのか?2023

    • Author(s)
      山一竜光,杉山悠聖,清野源太,安井浩太郎,石黒章夫
    • Organizer
      第35回自律分散システム・シンポジウム
    • Related Report
      2022 Research-status Report
  • [Presentation] Simple Reactive Head Motion Control Enhances Adaptability to Rough Terrain in Centipede Walking2022

    • Author(s)
      Kotaro Yasui, Shunsuke Takano, Takeshi Kano, Akio Ishiguro
    • Organizer
      The 11th International Conference on Biomimetic and Biohybrid Systems (Living Machines2022)
    • Related Report
      2022 Research-status Report
    • Int'l Joint Research
  • [Presentation] Towards understanding the adaptive navigation control mechanisms in centipedes (Scolopendra subspinipes mutilans)2022

    • Author(s)
      Kotaro Yasui
    • Organizer
      日本比較生理生化学会第44回高知大会
    • Related Report
      2022 Research-status Report
  • [Presentation] 多足類の負荷適応的ロコモーションに内在する自律分散制御則2022

    • Author(s)
      大野篤史,安井浩太郎,加納剛史,石黒章夫
    • Organizer
      第34回自律分散システム・シンポジウム
    • Related Report
      2021 Research-status Report
  • [Presentation] Decoding flexible motor control for mode-rich locomotion: lessons from amphibious centipedes2021

    • Author(s)
      Kotaro Yasui
    • Organizer
      The 10th international conference on biomimetic and biohybrid systems (Living Machines2021), Invertebrate Robotics workshop
    • Related Report
      2021 Research-status Report
    • Int'l Joint Research / Invited

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Published: 2021-04-28   Modified: 2025-01-30  

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