ヒモ状生物のロコモーションに内在する「手応え制御則」

抄録

Our long-term goal of this study is to understand the control mechanism underlying various types of animal locomotion from a unified viewpoint. Towards this goal, we focused on undulatory locomotion of animals having one-dimensional body structure and aimed to elucidate their underlying control mechanism on the basis of a synthetic approach. Indeed, undulatory locomotion is an intriguing topic because it is classified into two types, i.e., retrograde- and direct-wave locomotion. We proposed a CPG-based control mechanism by focusing on “TEGOTAE”, a Japanese concept describing how well a perceived reaction matches an expectation, and then succeeded in reproducing both retrograde- and direct-wave locomotion via simulation using the propose control scheme.