Exploring Autonomous Decentralized Control Mechanism for Body–limb Coordination in Sprawling Locomotion

Abstract

Quadrupeds exhibit surprisingly adaptive and agile locomotion under real world constraints. This ability is achieved by orchestrating many degrees of freedom in their bodies in real time. However, the control principle underlying this ability still remains elusive. In order to clarify the control principle, in this study, we focus on sprawling locomotion which is a quadruped walking gait with lateral body bending widely observed in amphibians and reptiles such as salamanders, lizards, and crocodiles. We propose a decentralized control algorithm for body–limb coordination in sprawling locomotion by fully exploiting the softness of the body. Simulation results suggest that the proposed control principle could well reproduce sprawling locomotion.