自律分散制御に基づく首長竜の体幹姿勢とヒレ間協調運動に関する一考察

抄録

The Plesiosauria are a group of aquatic reptiles lived from the Late Triassic Period into the Late Cretaceous Period．They were unique because they evolved four large wing-like flippers almost identical in size and shape． Due to this unique body structure， it has been assumed that plesiosaurs may have performed a unique swimming style． However， the locomotor patterns of plesiosaurs are yet to be understood．To reconstruct their locomotion，we develop plesiosaurs-like robots and aim to understand the role of plesiosaurs trunk and verify plesiosaurs swimming stability through robot experiments． In this paper，we focus on the relationship of inter-flipper and trunk coordination in plesiosaurs locomotion because previous studies have verify flipper coordination without plesiosaurs trunk．