From swimming to walking with a salamander robot driven by a spinal cord model

Science

Volumn 315, Issue 5817, 2007, Pages 1416-1420

  Ijspeert, Auke Jan ^a   Crespi, Alessandro ^a   Ryczko, Dimitri ^b,c   Cabelguen, Jean Marie ^b,c  

^a EPFL   (Switzerland)

^b INSERM   (France)

^c UNIVERSITÉ DE BORDEAUX   (France)

Author keywords

[No Author keywords available]

Indexed keywords

ADAPTATION; AMPHIBIAN; EVOLUTION; LIMB; NERVOUS SYSTEM; PHYLOGENETICS; ROBOTICS; SIMULATION; SWIMMING; WALKING;

AMPHIBIA; AQUATIC SPECIES; ARTICLE; CPG MODEL; DIRECTIONAL VISION; GAIT; LAND BIOME; LOCOMOTION; MATHEMATICAL MODEL; MOLECULAR EVOLUTION; NERVOUS SYSTEM; NONHUMAN; OSCILLATION; PLESIOMORPHY; PRIORITY JOURNAL; ROBOTICS; SALAMANDER; SPINAL CORD; SWIMMING; VELOCITY; VERTEBRATE; WALKING;

ANIMALS; BIOMECHANICS; BRAIN STEM; ELECTRIC STIMULATION; EVOLUTION; EXTREMITIES; GAIT; LOCOMOTION; MATHEMATICS; MODELS, BIOLOGICAL; MODELS, NEUROLOGICAL; MOTOR NEURONS; NERVE NET; PLEURODELES; ROBOTICS; SPINAL CORD; SWIMMING; WALKING;

SALAMANDROIDEA; TETRAPODA; VERTEBRATA;

EID: 33947098452     PISSN: 00368075     EISSN: 10959203     Source Type: Journal    
DOI: 10.1126/science.1138353     Document Type: Article

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28. We acknowledge support from the Swiss National Science Foundation and the French "Ministère de la Recherche et de la Technologie" (ACI NIC 032362). We are grateful to B. Webb, M. Daley, B. Ermentrout, A. Roberts, G. Le Masson, and S. Schaal for useful comments; A. Guignard and A. Badertscher for help in the construction of the robot; I. Delvolvé for kinematic recordings; and F. Mondada for providing the PD motor controller.