From Swimming to Walking with a Salamander Robot Driven by a Spinal Cord Model

By Auke Jan Ijspeert, Alessandro Crespi, Dimitri Ryczko, J. Cabelguen. Science, 2007

1,267 citations recorded by the source corpus.

Subfields: Cell Biology, Cognitive Neuroscience, Electrical and Electronic Engineering

View Paper: https://www.semanticscholar.org/paper/41146983cdbd273e3d5dc7e734f53e2b847a5477

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Citations in the corpus

Central pattern generators for locomotion control in animals and robots: A review (2008, methodology): “We also developed a salamander-robot to study the transition between (anguilliform) swimming and walking (Ijspeert et al., 2007), this work will be further described in the next section.”
A Muscle-Reflex Model That Encodes Principles of Legged Mechanics Produces Human Walking Dynamics and Muscle Activities (2010, background): “Using this combination of a central pattern generation and modulating reflexes, neuromuscular models of lampreys [9], salamanders [10], cats [11]–[13], and humans”
Self-organized adaptation of a simple neural circuit enables complex robot behaviour (2010, background): “Moreover, these systems either rely on only a smaller number of sensors and motors, or, if more motors are present [9], their coordination forms low-dimensional dynamics such as waves that constrain the motor behaviour to snake- or salamander-like patterns with a uniform gait.”
Deep neuroethology of a virtual rodent (2019, background): “Efforts to construct models of biological locomotion systems have informed our understanding of the mechanisms and evolutionary history of bodies and behavior (Grillner et al., 2007; Ijspeert et al., 2007; Ramdya et al., 2017; Nyakatura et al., 2019).”
Circuits controlling vertebrate locomotion: moving in a new direction (2009, result): “Modelling studies are also supportive of this propositio”
On the Relationships between Generative Encodings, Regularity, and Learning Abilities when Evolving Plastic Artificial Neural Networks (2013, background): “The central pattern generator of the lamprey [68] has 4 automorphisms (2|2) because it has two axial symmetries: top-down and left-right.”
Morphological change in machines accelerates the evolution of robust behavior (2011, background): “Evolving Behavior The system introduced here allows a robot’s body plan to change while it behaves: Robots progress from anguilliform body plans (15) into upright, legged body plans while behaving in a simulated environment (Figs.”
Selection of cortical dynamics for motor behaviour by the basal ganglia (2015, background): “This cortical region reaches both the brainstemmotor centres and, more directly, the spinal motor neurons projecting to the muscles (Orlovsky et al. 1999; Ijspeert et al. 2007).”