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The transition from aquatic to terrestrial locomotion was a key development in vertebrate evolution. We present a spinal cord model and its implementation in an amphibious salamander robot that demonstrates how a primitive neural circuit for swimming can be extended by phylogenetically more recent limb oscillatory centers to explain the ability of(More)
Ants live in organized societies with a marked division of labor among workers, but little is known about how this division of labor is generated. We used a tracking system to continuously monitor individually tagged workers in six colonies of the ant Camponotus fellah over 41 days. Network analyses of more than 9 million interactions revealed three(More)
An important problem in the control of locomotion of robots with multiple degrees of freedom (e.g., biomimetic robots) is to adapt the locomotor patterns to the properties of the environment. This article addresses this problem for the locomotion of an amphibious snake robot, and aims at identifying fast swimming and crawling gaits for a variety of(More)
This article presents a project that aims at understanding the neural circuitry controlling salamander locomotion, and developing an amphibious salamander-like robot capable of replicating its bimodal locomotion, namely swimming and terrestrial walking. The controllers of the robot are central pattern generator models inspired by the salamander's locomotion(More)
— This article presents AmphiBot II, an amphibious snake robot designed for both serpentine loco-motion (crawling) and swimming. It is controlled by an on-board central pattern generator (CPG) inspired by those found in vertebrates. The CPG is modelled as a chain of coupled nonlinear oscillators, and is designed to produce travelling waves. Its parameters(More)
Online trajectory generation for robots with multiple degrees of freedom is still a difficult and unsolved problem, in particular for non-steady state locomotion, that is, when the robot has to move in a complex environment with continuous variations of the speed, direction, and type of locomotor behavior. In this article we address the problem of(More)
This article presents a project that aims at constructing a biologically inspired amphibious snake-like robot. The robot is designed to be capable of anguilliform swimming like sea-snakes and lampreys in water and lateral undulatory locomotion like a snake on ground. Both the structure and the controller of the robot are inspired by elongate vertebrates. In(More)
This article presents a control architecture for controlling the locomotion of an amphibious snake/lamprey robot capable of swimming and serpentine locomotion. The control architecture is based on a central pattern generator (CPG) model inspired from the neural circuits controlling locomotion in the lamprey's spinal cord. The CPG model is implemented as a(More)
We present AmphiBot I, an amphibious snake robot capable of crawling and swimming. Experiments have been carried out to characterize how the speed of locomotion depends on the frequencies, amplitudes, and phase lags of undulatory gaits, both in water and on ground. Using this characterization, we can identify the fastest gaits for a given medium. Results(More)
In this paper, we present Salamandra robotica II: an amphibious salamander robot that is able to walk and swim. The robot has four legs and an actuated spine that allow it to perform anguilliform swimming in water and walking on the ground. The paper first presents the new robot hardware design, which is an improved version of Salamandra robotica I. We then(More)