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Where are we in understanding salamander locomotion: biological and robotic perspectives on kinematics

Karakasiliotis, Konstantinos ; Schilling, Nadja ; Cabelguen, Jean-Marie ; Ijspeert, Auke

In: Biological Cybernetics, 2013, vol. 107, no. 5, p. 529-544

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    Titel
    • Where are we in understanding salamander locomotion: biological and robotic perspectives on kinematics
    Autor
    • Karakasiliotis, Konstantinos. École Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland
    • Schilling, Nadja. Institute of Systematic Zoology and Evolutionary Biology, Friedrich-Schiller-University, Jena, Germany
    • Cabelguen, Jean-Marie. Neurocentre Magendie INSERM U862, Bordeaux University, Bordeaux-cedex, France
    • Ijspeert, Auke. École Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland
    Dokumententyp
    • Postprint
    Sprache
    • Englisch
    Veröffentlicht in
    • Biological Cybernetics, 2013, vol. 107, no. 5, p. 529-544. Springer Berlin Heidelberg
    Andere elektronische Ausgabe
    OAI-PMH-ID
    • oai:doc.rero.ch:312769
    Summary
    Salamanders have captured the interest of biologists and roboticists for decades because of their ability to locomote in different environments and their resemblance to early representatives of tetrapods. In this article, we review biological and robotic studies on the kinematics (i.e., angular profiles of joints) of salamander locomotion aiming at three main goals: (i) to give a clear view of the kinematics, currently available, for each body part of the salamander while moving in different environments (i.e., terrestrial stepping, aquatic stepping, and swimming), (ii) to examine what is the status of our current knowledge and what remains unclear, and (iii) to discuss how much robotics and modeling have already contributed and will potentially contribute in the future to such studies