Details of the Researcher

PHOTO

Kotaro Yasui
Section
Frontier Research Institute for Interdisciplinary Sciences
Job title
Assistant Professor
Degree
e-Rad No.
70876739

Research History 4

  • 2020/04 - Present
    東北大学 学際科学フロンティア研究所　新領域創成研究部　助教

  • 2017/04 - 2020/03
    日本学術振興会 特別研究員（DC1）

  • 2011/04 - 2014/06
    第一生命保険株式会社

  • 2020/04 - Present
    東北大学 電気通信研究所（兼務）

Education 2

  • Tohoku University　Graduate School of Engineering　Department of Electrical Engineering

    2015/04 - 2020/03

  • Hitotsubashi University　Faculty of Economics

    2007/04 - 2011/03

Committee Memberships 6

  • The 2027 SICE Festival with Annual Conference (SICE FES 2027)　Finance Chair

    2026/04 - Present

  • 計測自動制御学会 システム・情報部門 自律分散システム部会　運営委員

    2026/02 - Present

  • The 18th International Symposium on Distributed Autonomous Robotic Systems (DARS2026)　Publicity chair

    2025/12 - Present

  • 計測自動制御学会 システム・情報部門 自律分散システム部会　運営委員

    2022/01 - 2024/02

  • The 11th International Symposium on Adaptive Motion of Animals and Machines (AMAM2023)　Organizing committee, Financial chair

    2022 - 2023/06

  • 第34回自律分散システム・シンポジウム 実行委員

    2022/01 -

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Professional Memberships 3

  • 日本比較生理生化学会

  • 日本数理生物学会

  • 計測自動制御学会

Research Interests 2

  • 自律分散制御

  • Bio-inspired robotics

Research Areas 3

  • Life sciences / Animals: biochemistry, physiology, behavioral science /

  • Informatics / Robotics and intelligent systems /

  • Manufacturing technology (mechanical, electrical/electronic, chemical engineering) / Control and systems engineering /

Awards 10

  1. Best Oral Presentation Award, The 12th International Symposium on Adaptive Motion of Animals and Machines (AMAM2025)

    2025/07

  2. 2nd Best Short Talk

    2022/07　The 11th international conference on biomimetic and biohybrid systems (Living Machines 2022)　Simple reactive head motion control enhances adaptability to rough terrain in centipede walking

  3. プロミネントリサーチフェロー

    2021/07　東北大学

  4. Best Poster Prize (Second Place)

    2021/06　The 9.5th international symposium on Adaptive Motion of Animals and Machines (AMAM2021)　Self-tunable Tegotae-based Control for Snake Locomotion

  5. Best Poster Prize (Honorable Mentions)

    2021/06　The 9.5th international symposium on Adaptive Motion of Animals and Machines (AMAM2021)　On the Determinant of Gait Patterns in Myriapod Locomotion

  6. 日本機械学会ロボティクス・メカトロニクス部門ROBOMECH表彰（学術研究分野）

    2021/06　日本機械学会　環境に呼応して足並みが柔軟に変化する多脚ロボットの脚間協調制御則

  7. 若手優秀研究賞

    2021/03　東北大学電気・情報系

  8. The Award for the Best Article presented in the 42th Annual Meeting of the Japanese Society for Comparative Physiology and Biochemistry

    2020/11　Towards understanding adaptive motor control mechanisms underlying walking and swimming in centipedes

  9. 学術奨励賞研究奨励賞

    2020/02　計測自動制御学会　ムカデの歩行・遊泳間の遷移に内在する自律分散制御則

  10. 計測自動制御学会東北支部第299回研究集会 優秀発表奨励賞

    2015/12　計測自動制御学会東北支部　ムカデのロコモーションに内在する自律分散制御則

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Papers 16

  1. Millipedes suggest decentralized trunk–limb coordination control is essential for inter-limb coordination in many-legged locomotion International-journal Peer-reviewed

    Kotaro Yasui, Tatsumi Yamaichi, Akio Ishiguro

    Artificial Life and Robotics　31　34-45　2026/01/09

    Publisher: Springer Science and Business Media LLC

    DOI： 10.1007/s10015-025-01113-2 　

    ISSN： 1433-5298

    eISSN： 1614-7456

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    Abstract Many-legged arthropods, such as myriapods, exhibit coordinated stepping patterns during walking. Although they are known to use similar inter-limb coordination patterns across species, it remains elusive whether common control principles exist for many-legged locomotion. To address this issue, we observed millipede walking and found that subtle trunk-pitch bending, coordinated with leg movements, sometimes appears. Drawing inspiration from this finding, we hypothesized that inter-limb coordination in many-legged locomotion could be generated via trunk–limb coordination control. To test this hypothesis, we constructed a neuro-mechanical model of many-legged animals and proposed a simple trunk–limb coordination control based on local sensory feedback. In simulations, we verified that our model can reproduce the inter-limb coordination of many-legged arthropods with various leg numbers. We expect that our model will provide new insights into the control principles underlying many-legged locomotion.

  2. Behaviour Diversity in a Walking and Climbing Centipede-Like Virtual Creature International-journal International-coauthorship Peer-reviewed

    Emma Stensby Norstein, Kotaro Yasui, Takeshi Kano, Akio Ishiguro, Kyrre Glette

    Artificial Life　31　(3)　321-344　2025/09/04

    Publisher: MIT Press

    DOI： 10.1162/artl_a_00476 　

    ISSN： 1064-5462

    eISSN： 1530-9185

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    Abstract Robot controllers are often optimized for a single robot in a single environment. This approach proves brittle, as such a controller will often fail to produce sensible behavior for a new morphology or environment. In comparison, animal gaits are robust and versatile. By observing animals, and attempting to extract general principles of locomotion from their movement, we aim to design a single, decentralized controller applicable to diverse morphologies and environments. The controller implements the three components of (a) undulation, (b) peristalsis, and (c) leg motion, which we believe are the essential elements in most animal gaits. This work is a first step toward a general controller. Accordingly, the controller has been evaluated on a limited range of simulated centipede-like robot morphologies. The centipede is chosen as inspiration because it moves using both body contractions and legged locomotion. For a controller to work in qualitatively different settings, it must also be able to exhibit qualitatively different behaviors. We find that six different modes of locomotion emerge from our controller in response to environmental and morphological changes. We also find that different parts of the centipede model can exhibit different modes of locomotion, simultaneously, based on local morphological features. This controller can potentially aid in the design or evolution of robots, by quickly testing the potential of a morphology, or be used to get insights about underlying locomotion principles in the centipede.

  3. Multisensory feedback makes swimming circuits robust against spinal transection and enables terrestrial crawling in elongate fish International-journal International-coauthorship Peer-reviewed

    Kotaro Yasui, Astha Gupta, Qiyuan Fu, Shura Suzuki, Jeffrey Hainer, Laura Paez, Keegan Lutek, Jonathan Arreguit, Takeshi Kano, Emily M. Standen, Auke J. Ijspeert, Akio Ishiguro

    Proceedings of the National Academy of Sciences　122　(34)　2025/08/18

    Publisher: Proceedings of the National Academy of Sciences

    DOI： 10.1073/pnas.2422248122 　

    ISSN： 0027-8424

    eISSN： 1091-6490

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    Vertebrate locomotion is due to the interplay of neural oscillators and sensory feedback loops in the spinal cord that interact with the body and the environment. Here, we study these circuits with a focus on undulatory locomotion as produced by elongated fish such as eels and lampreys. We address three questions: i) How do proprioception (stretch feedback) and exteroception (pressure on skin) interact with local oscillators to generate stable swimming patterns? ii) Can these feedback loops also contribute to dry ground locomotion? iii) Can they explain the remarkable robustness of eels against spinal cord transections? To address these questions, we developed abstract models of the locomotion circuits based on coupled phase oscillators, local stretch and pressure feedback loops, and simulated muscle models that were tested both in simulation and with a real undulatory robot. We also performed swimming experiments with eels before and after spinal cord transections. We found that stretch and pressure feedback work well together in swimming, as they contribute to rapid pattern generation and can, in principle, both replace direct couplings between oscillators. Interestingly, the swimming controllers could generate good ground locomotion when placed in an arena with pegs. For ground locomotion, the stretch feedback is more beneficial than pressure feedback. Finally, our models could replicate the remarkable ability of eels to keep swimming shortly after a full spinal cord transection. We found that stretch feedback and the ability of oscillators to spontaneously oscillate are likely explanations for keeping the neural oscillators active and coordinated below the transection.

  4. Decentralized control law for load-adaptive gaits of multi-legged robots inspired by millipedes International-journal Peer-reviewed

    Kotaro Yasui, Atsushi Ohno, Takeshi Kano, Akio Ishiguro

    Advanced Robotics　2024/09

    DOI： 10.1080/01691864.2024.2408619 　

  5. A virtuous cycle between invertebrate and robotics research: perspective on a decade of Living Machines research. International-journal International-coauthorship Peer-reviewed

    Michael Mangan, Dario Floreano, Kotaro Yasui, Barry A Trimmer, Nick Gravish, Sabine Hauert, Barbara Webb, Poramate Manoonpong, Nicholas Szczecinski

    Bioinspiration & biomimetics　18　(3)　2023/03/27

    DOI： 10.1088/1748-3190/acc223 　

    More details Close

    Many invertebrates are ideal model systems on which to base robot design principles due to their success in solving seemingly complex tasks across domains while possessing smaller nervous systems than vertebrates. Three areas are particularly relevant for robot designers: Research on flying and crawling invertebrates has inspired new materials and geometries from which robot bodies (their morphologies) can be constructed, enabling a new generation of softer, smaller, and lighter robots. Research on walking insects has informed the design of new systems for controlling robot bodies (their motion control) and adapting their motion to their environment without costly computational methods. And research combining wet and computational neuroscience with robotic validation methods has revealed the structure and function of core circuits in the insect brain responsible for the navigation and swarming capabilities (their mental faculties) displayed by foraging insects. The last decade has seen significant progress in the application of principles extracted from invertebrates, as well as the application of biomimetic robots to model and better understand how animals function. This Perspectives paper on the past 10 years of the Living Machines conference outlines some of the most exciting recent advances in each of these fields before outlining lessons gleaned and the outlook for the next decade of invertebrate robotic research.

  6. Adaptive Centipede Walking via Synergetic Coupling Between Decentralized Control and Flexible Body Dynamics. International-journal Peer-reviewed

    Kotaro Yasui, Shunsuke Takano, Takeshi Kano, Akio Ishiguro

    Frontiers in robotics and AI　9　797566-797566　2022/04

    DOI： 10.3389/frobt.2022.797566 　

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    Multi-legged animals such as myriapods can locomote on unstructured rough terrain using their flexible bodies and legs. This highly adaptive locomotion emerges through the dynamic interactions between an animal's nervous system, its flexible body, and the environment. Previous studies have primarily focused on either adaptive leg control or the passive compliance of the body parts and have shown how each enhanced adaptability to complex terrains in multi-legged locomotion. However, the essential mechanism considering both the adaptive locomotor circuits and bodily flexibility remains unclear. In this study, we focused on centipedes and aimed to understand the well-balanced coupling between the two abovementioned mechanisms for rough terrain walking by building a neuromechanical model based on behavioral findings. In the behavioral experiment, we observed a centipede walking when part of the terrain was temporarily removed and thereafter restored. We found that the ground contact sense of each leg was essential for generating rhythmic leg motions and also for establishing adaptive footfall patterns between adjacent legs. Based on this finding, we proposed decentralized control mechanisms using ground contact sense and implemented them into a physical centipede model with flexible bodies and legs. In the simulations, our model self-organized the typical gait on flat terrain and adaptive walking during gap crossing, which were similar to centipedes. Furthermore, we demonstrated that the locomotor performance deteriorated on rough terrain when adaptive leg control was removed or when the body was rigid, which indicates that both the adaptive leg control and the flexible body are essential for adaptive locomotion. Thus, our model is expected to capture the possible essential mechanisms underlying adaptive centipede walking and pave the way for designing multi-legged robots with high adaptability to irregular terrain.

  7. Wearable Vibration Sensor for Measuring the Wing Flapping of Insects. International-journal Peer-reviewed

    Ryota Yanagisawa, Shunsuke Shigaki, Kotaro Yasui, Dai Owaki, Yasuhiro Sugimoto, Akio Ishiguro, Masahiro Shimizu

    Sensors　21　(2)　593　2021/01/15

    DOI： 10.3390/s21020593 　

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    In this study, we fabricated a novel wearable vibration sensor for insects and measured their wing flapping. An analysis of insect wing deformation in relation to changes in the environment plays an important role in understanding the underlying mechanism enabling insects to dynamically interact with their surrounding environment. It is common to use a high-speed camera to measure the wing flapping; however, it is difficult to analyze the feedback mechanism caused by the environmental changes caused by the flapping because this method applies an indirect measurement. Therefore, we propose the fabrication of a novel film sensor that is capable of measuring the changes in the wingbeat frequency of an insect. This novel sensor is composed of flat silver particles admixed with a silicone polymer, which changes the value of the resistor when a bending deformation occurs. As a result of attaching this sensor to the wings of a moth and a dragonfly and measuring the flapping of the wings, we were able to measure the frequency of the flapping with high accuracy. In addition, as a result of simultaneously measuring the relationship between the behavior of a moth during its search for an odor source and its wing flapping, it became clear that the frequency of the flapping changed depending on the frequency of the odor reception. From this result, a wearable film sensor for an insect that can measure the displacement of the body during a particular behavior was fabricated.

  8. An agent-based model of the interrelation between the COVID-19 outbreak and economic activities International-journal International-coauthorship Peer-reviewed

    Takeshi Kano, Kotaro Yasui, Taishi Mikami, Munehiro Asally, Akio Ishiguro

    Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences　477　(2245)　20200604-20200604　2021/01/06

    Publisher: The Royal Society

    DOI： 10.1098/rspa.2020.0604 　

    ISSN： 1364-5021

    eISSN： 1471-2946

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    As of July 2020, COVID-19 caused by SARS-COV-2 is spreading worldwide, causing severe economic damage. While minimizing human contact is effective in managing outbreaks, it causes severe economic losses. Strategies to solve this dilemma by considering the interrelation between the spread of the virus and economic activities are urgently needed to mitigate the health and economic damage. Here, we propose an abstract agent-based model of the COVID-19 outbreak that accounts for economic activities. The computational simulation of the model recapitulates the trade-off between the health and economic damage associated with voluntary restraint measures. Based on the simulation results, we discuss how the macroscopic dynamics of infection and economics emerge from individuals’ behaviours. We believe our model can serve as a platform for discussing solutions to the above-mentioned dilemma.

  9. Decoding the essential interplay between central and peripheral control in adaptive locomotion of amphibious centipedes. International-journal International-coauthorship Peer-reviewed

    Kotaro Yasui, Takeshi Kano, Emily M Standen, Hitoshi Aonuma, Auke J Ijspeert, Akio Ishiguro

    Scientific reports　9　(1)　18288　2019/12/02

    DOI： 10.1038/s41598-019-53258-3 　

    ISSN： 2045-2322

  10. Decentralized control mechanism underlying interlimb coordination of millipedes. International-journal Peer-reviewed

    Takeshi Kano, Kazuhiko Sakai, Kotaro Yasui, Dai Owaki, Akio Ishiguro

    Bioinspiration & biomimetics　12　(3)　036007-036007　2017/04/04

    DOI： 10.1088/1748-3190/aa64a5 　

    ISSN： 1748-3182

    eISSN： 1748-3190

  11. Decentralized control scheme for myriapod robot inspired by adaptive and resilient centipede locomotion International-journal Peer-reviewed

    Kotaro Yasui, Kazuhiko Sakai, Takeshi Kano, Dai Owaki, Akio Ishiguro

    PLOS ONE　12　(2)　e0171421-e0171421　2017/02/02

    DOI： 10.1371/journal.pone.0171421 　

    ISSN： 1932-6203

    eISSN： 1932-6203

  12. Simple Reactive Head Motion Control Enhances Adaptability to Rough Terrain in Centipede Walking International-journal Peer-reviewed

    Kotaro Yasui, Shunsuke Takano, Takeshi Kano, Akio Ishiguro

    Lecture Notes in Computer Science　262-266　2022/12/02

    DOI： 10.1007/978-3-031-20470-8_26 　

    ISSN： 0302-9743

    eISSN： 1611-3349

  13. Decentralized Control of Pedundulatory and Peristaltic Locomotion Inspired by Polycheates Peer-reviewed

    Kotaro Yasui, Takeru Kanno, Takeshi Kano, Akio Ishiguro

    2021 60th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2021　60-65　2021/09/08

  14. Undulatory Swimming Locomotion Driven by CPG with Multimodal Local Sensory Feedback International-journal International-coauthorship Peer-reviewed

    Kyoichi Akiyama, Kotaro Yasui, Jonathan Arreguit, Laura Paez, Kamilo Melo, Takeshi Kano, Auke Jan Ijspeert, Akio Ishiguro

    Lecture Notes in Computer Science　1-5　2018/07/07

    DOI： 10.1007/978-3-319-95972-6_1 　

    ISSN： 0302-9743

    eISSN： 1611-3349

  15. Decentralized Control Scheme for Myriapod Locomotion That Exploits Local Force Feedback International-journal Peer-reviewed

    Takeshi Kano, Kotaro Yasui, Dai Owaki, Akio Ishiguro

    Lecture Notes in Computer Science　449-453　2016/07/12

    DOI： 10.1007/978-3-319-42417-0_45 　

    ISSN： 0302-9743

    eISSN： 1611-3349

  16. Decentralized Control Scheme for Centipede Locomotion Based on Local Reflexes International-journal Peer-reviewed

    Kotaro Yasui, Takeshi Kano, Dai Owaki, Akio Ishiguro

    Lecture Notes in Computer Science　545-547　2016/07/12

    DOI： 10.1007/978-3-319-42417-0_60 　

    ISSN： 0302-9743

    eISSN： 1611-3349

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Misc. 1

  1. Designing Novel Decentralized Control Scheme of Snake-like Robot by Understanding Essential Mechanism of Snake Locomotion

    Kano Takeshi, Yasui Kotaro, Ishiguro Akio

    Journal of the Robotics Society of Japan　40　(4)　283-287　2022

    Publisher: The Robotics Society of Japan

    DOI： 10.7210/jrsj.40.283 　

    ISSN： 0289-1824

    eISSN： 1884-7145

Presentations 84

  1. 創りながら理解するムカデの適応的運動知能 Invited

    安井浩太郎

    Adaptive behavior and its ecological foundations 2026　2026/02/02

  2. Decoding Control Principles Underlying Adaptive Locomotion in Elongated and Multi-Legged Animal International-presentation Invited

    Kotaro Yasui

    2026 Robotics Gordon Research Conference　2026/01

  3. Decoding the Interplay Between Central and Peripheral Control for Versatile Locomotor Repertoire in Centipedes International-presentation International-coauthorship

    Kotaro Yasui, Emily M Standen, Takeshi Kano, Hitoshi Aonuma, Akio Ishiguro

    12th International Symposium on Adaptive Motion of Animals and Machines (AMAM 2025)　2025/07

  4. 動物の生き生きとした振る舞いに内在する制御のカラクリを探る Invited

    石黒章夫, 安井浩太郎

    第306回三崎談話会　2024/09

  5. From Locomotion to Navigation: Decoding the Adaptive Motor Control System in Centipedes International-presentation Invited

    Kotaro Yasui

    SWARM2024 in September　2024/09

  6. Decoding the essential interplay between central and peripheral control in centipede locomotion International-presentation Invited

    Kotaro Yasui

    Neuromechanics of Locomotion　2024/05

  7. ムカデにおける移動パターン発現原理の探求 Invited

    塩見こずえ, 安井浩太郎

    統計数理研究所・共同利用研究集会 ISMCRP5013 「統計モデル・数理生物学と動物行動データ」　2023/12

  8. ムカデから探る自律的運動知能と多義的身体のありよう Invited

    安井浩太郎

    第41回日本ロボット学会学術講演会　2023/09

  9. Decoding flexible motor control for mode-rich locomotion: lessons from amphibious centipedes Invited

    Kotaro Yasui

    The 10th international conference on biomimetic and biohybrid systems (Living Machines2021), Invertebrate Robotics workshop　2021/07

  10. Understanding Flexible Motor Control Mechanism by Studying Amphibious Locomotion of Centipedes Invited

    Kotaro Yasui

    The 9th International Symposium on Adaptive Motion of Animals and Machines (AMAM2019)　2019/08

  11. 身体性改変ムカデを用いて適応的運動知能の原理を探る

    安井浩太郎, 塩見こずえ

    第38回自律分散システム・シンポジウム　2026/02/19

  12. ウナギの陸上這行に着想を得た剪断力フィードバックを活用したCPG制御

    佐藤龍, 赤井大介, 安井浩太郎, 石黒章夫

    第26回計測自動制御学会システムインテグレーション部門講演会（SI2025）　2025/12

  13. ウナギを規範とした水陸両用ロコモーション制御

    安井浩太郎, 鈴木朱羅, 加納剛史, 石黒章夫

    計測自動制御学会 システム・情報部門 学術講演会（SSI2025）　2025/11

  14. Decoding flexible motor control for versatile locomotor repertoire in centipedes International-presentation Invited

    Kotaro Yasui

    Workshop on Bio-inspired Robotics and Physical AI　2025/09

  15. A Simple Head-Trunk-Limb Coordination Control Capable of Three Types of Quadruped Galloping International-presentation

    Goku Sawada, Seokhyun Kim, Shura Suzuki, Kotaro Yasui, Akira Fukuhara, Akio Ishiguro

    2025 SICE Festival with Annual Conference (SICE FES 2025)　2025/09

  16. Active sensing control for exploratory navigation of centipedes using antennal and trunk motion International-presentation

    Kotaro Yasui, Kozue Shiomi

    2025 SICE Festival with Annual Conference (SICE FES 2025)　2025/07

  17. Decentralized Control Mechanism for Adaptive Locomotion in Centipedes: Transition Between Walking and Peristalsis International-presentation

    Daisuke Akai, Yusei Sugiyama, Kotaro Yasui, Akio Ishiguro

    12th International Symposium on Adaptive Motion of Animals and Machines (AMAM 2025)　2025/07

  18. Walk-Trot-Gallop Transition with Spinal Flexion in a Quadruped Model International-presentation

    Shura Suzuki, Goku Sawada, Kotaro Yasui, Akira Fukuhara, Akio Ishiguro

    12th International Symposium on Adaptive Motion of Animals and Machines (AMAM 2025)　2025/07

  19. Decentralized Intra-Limb Coordination Mechanisms Toward Whole-Body Coordinated Quadruped Locomotion International-presentation

    Seokhyun Kim, Goku Sawada, Satoshi Maeda, Shoei Hattori, Shura Suzuki, Kotaro Yasui, Akio Ishiguro

    12th International Symposium on Adaptive Motion of Animals and Machines (AMAM 2025)　2025/07

  20. Decentralized Control for Morphology-Adaptive Gait Generation in Sprawling Quadruped Locomotion International-presentation

    Shura Suzuki, Satoshi Maeda, Kotaro Yasui, Akio Ishiguro

    12th International Symposium on Adaptive Motion of Animals and Machines (AMAM 2025)　2025/07

  21. 四脚動物に内在する全身自由度間の協調制御原理の構成論的理解に向けて - 高速走行時のウマが示す脚部・胴体部・頭頸部間協調運動の再現性に関する一考察-

    澤田悟空, 金錫顕, 前田慧史, 服部祥英, 鈴木朱羅, 安井浩太郎, 福原洸, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会2025　2025/06

  22. 状況依存的に歩行と伸縮運動を発現可能なムカデ型ロボットの自律分散制御

    赤井大介, 杉山悠聖, 安井浩太郎, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会2025　2025/06

  23. ムカデに着想を得た柔軟な触角を用いた能動センシング機構の開発

    安井浩太郎, 鈴木朱羅, 福原洸

    日本機械学会ロボティクス・メカトロニクス講演会2025　2025/06

  24. 環境に応じて歩行と伸縮運動を示すムカデに内在する自律分散制御則

    赤井大介, 杉山悠聖, 安井浩太郎, 石黒章夫

    第37回自律分散システム・シンポジウム　2025/01

  25. 探索と歩行の連関から発現するムカデの環境踏破能力に関する一考察

    安井浩太郎, 塩見こずえ

    第37回自律分散システム・シンポジウム　2025/01

  26. 四脚動物に内在する全身自由度間の協調制御原理の構成論的理解に向けて—四脚動物の脚部・胴体部・頭頸部 間協調運動に関する一考察—

    澤田悟空, 前田慧史, 服部祥英, 鈴木朱羅, 安井浩太郎, 福原洸, 石黒章夫

    計測自動制御学会 システム・情報部門学術講演会2024（SSI2024）　2024/11

  27. ムカデの探索的ナビゲーションに内在する運動制御則に関するー考察

    安井浩太郎, 塩見こずえ

    計測自動制御学会 システム・情報部門学術講演会2024（SSI2024）　2024/11

  28. 6脚歩行に内在する脚間協調制御原理を探る

    水谷健人, 杉山悠聖, 安井浩太郎, 大脇大, 石黒章夫

    第42回日本ロボット学会学術講演会（RSJ2024）　2024/09

  29. トカゲ様歩行から探る身体に遍在する運動自由度間の協調制御原理に関する一考察

    前田慧史, 澤田悟空, 服部祥英, 鈴木朱羅, 安井浩太郎, 石黒章夫

    第42回日本ロボット学会学術講演会（RSJ2024）　2024/09

  30. 四脚動物に内在する全身自由度間の協調制御原理の構成論的理解に向けて

    澤田悟空, 前田慧史, 服部祥英, 鈴木朱羅, 安井浩太郎, 福原洸, 石黒章夫

    第42回日本ロボット学会学術講演会（RSJ2024）　2024/09

  31. 多足類が示す多様な歩容に通底する制御原理 は存在するのか?

    杉山悠聖, 安井浩太郎, 石黒章夫

    第42回日本ロボット学会学術講演会（RSJ2024）　2024/09

  32. Modeling the interplay between active sensing and locomotor control during exploratory navigation behavior of centipedes International-presentation

    Kotaro Yasui, Kozue Shiomi

    XXVII International Congress of Entomology (ICE2024)　2024/08

  33. Axial kinematics and muscle activity during walking and swimming of the centipede Scolopendra subspinipes International-presentation

    Kotaro Yasui, Daiki Wakita

    15th International Congress of Neuroethology (ICN2024)　2024/07

  34. Exploring Design Principles for Life-like Locomotor Intelligence

    Kotaro Yasui

    2024/06

  35. 多足類から探る昆虫型ロボットの脚間協調メカニズム

    水谷健人, 山一竜光, 大脇大, 杉山悠聖, 安井浩太郎, 石黒章夫

    ロボティクス・メカトロニクス講演会2024 in Utsunomiya　2024/05

  36. 胴体の柔軟性を活用した四脚ロボットの胴体・脚間協調制御

    澤田悟空, 前田慧史, 浅岡雄也, 服部祥英, 鈴木朱羅, 安井浩太郎, 福原洸, 小林亮,石黒章夫

    ロボティクス・メカトロニクス講演会2024 in Utsunomiya　2024/05

  37. トカゲ様歩行から探る脚・胴体間の自律分散的協調制御メカニズム

    前田慧史, 服部祥英, 小林亮, 澤田悟空, 浅岡雄也, 鈴木朱羅, 安井浩太郎, 石黒章夫

    ロボティクス・メカトロニクス講演会2024 in Utsunomiya　2024/05

  38. ムカデの探索的ナビゲーションから探る運動生成と状況判断の連関

    安井浩太郎, 塩見こずえ

    第36回自律分散システム・シンポジウム　2024/02

  39. ヤスデの歩行に内在する脚と胴体の協調制御原理

    山一竜光, 杉山悠聖, 安井浩太郎, 小林亮, 石黒章夫

    第24回システムインテグレーション部門講演会（SI2023）　2023/12

  40. Towards understanding embodied navigation mechanisms in centipedes

    Kotaro Yasui, Kozue Shiomi

    2023/12

  41. Centipede-inspired active sensing mechanism for exploratory navigation using antennal and body bending motion International-presentation

    Kotaro Yasui, Kozue Shiomi

    SICE Annual Conference 2023　2023/09

  42. 多足類の多様な歩容を発現する制御原理の実機検証

    杉山悠聖, 山一竜光, 安井浩太郎, 石黒章夫

    ロボティクス・メカトロニクス講演会2023　2023/06

  43. ムカデの歩行制御則はヤスデにも適用できるのか？-ロボット実機を用いた検証実験-

    山一竜光, 杉山悠聖, 安井浩太郎, 石黒章夫

    ロボティクス・メカトロニクス講演会2023　2023/06

  44. Exploring common control principles underlying versatile body–limb coordination in many-legged locomotion International-presentation

    Kotaro Yasui, Genta Seino, Tatsumi Yamaichi, Yusei Sugiyama, Takeshi Kano, Akio Ishiguro

    Proceedings of the 11th International Symposium on Adaptive Motion of Animals and Machines (AMAM2023)　2023/06

  45. ムカデの歩行制御則はヤスデにも適用できるのか？

    山一竜光, 杉山悠聖, 清野源太, 安井浩太郎, 石黒章夫

    第35回自律分散システム・シンポジウム　2023/01

  46. 多脚歩行に通底する脚と胴体の協調制御則を探る

    清野源太, 山一竜光, 杉山悠聖, 安井浩太郎, 加納剛史, 石黒章夫

    第35回自律分散システム・シンポジウム35　2023/01

  47. 動物の自律的運動知能の設計原理を求めて：ムカデを用いた事例研究

    安井浩太郎

    第35回自律分散システム・シンポジウム　2023/01

  48. Towards understanding the adaptive navigation control mechanisms in centipedes (Scolopendra subspinipes mutilans)

    Kotaro Yasui

    2022/11

  49. Decentralized Control Mechanism That Well Reproduces Concertina Locomotion in Snakes International-presentation

    Kotaro Yasui, Akane Sato, Noriyuki Otaki, Takeshi Kano, Akio Ishiguro

    SICE Annual Conference 2022　2022/09

  50. Simple Reactive Head Motion Control Enhances Adaptability to Rough Terrain in Centipede Walking

    Kotaro Yasui, Shunsuke Takano, Takeshi Kano, Akio Ishiguro

    Biomimetic and Biohybrid Systems: 11th International Conference, Living Machines 2022, Virtual Event, July 19–22, 2022, Proceedings　2022

  51. Inter-limb Coordination Mechanism Based on the Coupling Between Hydraulic and Muscle Actuations in Wandering Spiders

    YAMAJI Satoshi, YASUI Kotaro, KANO Takeshi, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022

    More details Close

    Soft-bodied legged robot shows high adaptability to the environment by utilizing its flexible body mechanics. However, it is difficult to generate adaptive coordination patterns between limbs (i.e., interlimb coordination), and decentralized control could be a solution for this problem. To develop such control mechanism, we focused on wandering spiders that exploit well-balanced coupling between hydraulic and muscle actuations and aimed to construct the decentralized control mechanism that can reproduce inter-limb coordination. For this purpose, we employed a synthetic approach wherein we construct a simple mathematical model based on biological insights. As a first step, here we built a two-dimensional robot model with two legs and proposed a simple local reflexive mechanism based on the interaction between leg flexor and body fluid.

  52. ヘビのコンセルティーナロコモーションを超リアルに再現したい！

    佐藤明音, 大滝範幸, 安井浩太郎, 加納剛史, 石黒章夫

    第34回自律分散システム・シンポジウム　2022/01

  53. 静水骨格系を活用するクモのロコモーションに内在する脚間協調制御則

    山地聡史, 安井浩太郎, 加納剛史, 石黒章夫

    第34回自律分散システム・シンポジウム　2022/01

  54. 多足類の負荷適応的ロコモーションに内在する自律分散制御則

    大野篤史, 安井浩太郎, 加納剛史, 石黒章夫

    第34回自律分散システム・シンポジウム　2022/01

  55. How to Mitigate the COVID-19 Outbreak While Maintaining Economic Activities?

    T. Kano, K. Yasui, T. Mikami, M. Asally, A. Ishiguro

    The Conference on Complex Systems 2021　2021/10

  56. Decentralized Control of Pedundulatory and Peristaltic Locomotion Inspired by Polycheates

    Kotaro Yasui, Takeru Kanno, Takeshi Kano, Akio Ishiguro

    2021 60th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2021　2021/09/08

  57. Mitigation of COVID-19 Outbreak While Continuing Economic Activities

    Takeshi Kano, Kotaro Yasui, Taishi Mikami, Munehiro Asally, Akio Ishiguro

    The 2021 Conference on Artificial Life, ABMHuB'21 Workshop　2021/07

  58. Self-tunable Tegotae-based Control for Snake Locomotion

    Kotaro Yasui, Noriyuki Otaki, Takeshi Kano, Akio Ishiguro

    Proceedings of the 9.5th international symposium on Adaptive Motion of Animals and Machines (AMAM2021)　2021/06

  59. On the Determinant of Gait Patterns in Myriapod Locomotion

    Kotaro Yasui, Takeshi Kano, Shigeru Kuroda, Hitoshi Aonuma, Yumino Hayase, Ryo Kobayashi, Akio Ishiguro

    Proceedings of the 9.5th international symposium on Adaptive Motion of Animals and Machines (AMAM2021)　2021/06

  60. Simple mathematical model for COVID-19 outbreak considering economic activities

    Takeshi Kano, Kotaro Yasui, Taishi Mikami, Munehiro Asally, Akio Ishiguro

    The 4th International Symposium on Swarm Behavior and Bio-inspired Robotics 2021 (SWARM2021)　2021/06

  61. On the Tegotae-based Control of Snake Locomotion – Limitation and Possible Solution

    Takeshi Kano, Kotaro Yasui, Noriyuki Otaki, Akio Ishiguro

    The 4th International Symposium on Swarm Behavior and Bio-inspired Robotics 2021 (SWARM2021)　2021/06

  62. Towards Understanding the Decision-making Mechanism Underlying Adaptive Centipede Locomotion in Unknown Environments

    SEINO Genta, YASUI Kotaro, KANO Takeshi, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2021/06

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    <p>Understanding control mechanisms underlying adaptive animal locomotion will provide us a design scheme for robots which can behave autonomously depending on environments. To address this issue, it is important to capture the interplay between local pattern generating circuits, descending commands from higher centers, and sensory feedback. However, the essential interplay between them that generates adaptive behavior in response to the situation remains unclear. Here, we focused on centipedes and explored the interplay by observing the decision-making when they faced the edge of the precipice during walking. We found that a ventral nerve cord-transected centipede stopped walking in a shorter distance forward than the intact one. From the results, we extended our previous mathematical model for walking based on decentralized control and proposed a descending control mechanism which utilizes ground reaction forces detected at the legs for deciding whether to move forward.</p>

  63. Towards Realization of a Multi-legged Robot That Can Generate Load-dependent Adaptive Gait

    OHNO Atsushi, YASUI Kotaro, KANO Takeshi, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2021/06

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    <p>Myriapods such as centipedes and millipedes can coordinate their elongate multi-legged body to locomote adaptively in unstructured and unpredictably changing environments. Clarifying the underlying motor control mechanism for locomotion will help to realize multi-legged robots that can move adaptively in various environments. However, the interlimb coordination mechanism that can generate load-dependent adaptive gait inherent in myriapods has not yet been elucidated. To solve this problem, we focused on the dynamic muscle properties as actuators for walking which may be closely related to the generation of gait patterns. In this paper, we observed the response to the load on the body and found that centipedes change their gait and increase their duty cycle. To understand this behavioral finding, we proposed a mathematical model for the locomotion control in which the force-velocity relationship of leg muscles was taken into account.</p>

  64. Interlimb Coordination Mechanism That Exploits Hydrostatic Skeleton Inspired by Wandering Spiders

    YAMAJI Satoshi, YASUI Kotaro, FUKUHARA Akira, KANO Takeshi, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2021/06

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    <p>Autonomous decentralized control could be the key to design soft-bodied robots that have a huge number of degrees of freedom. To address this issue, we focus on a wandering spider with a hydrostatic skeleton and aim to understand the decentralized control mechanism underlying their coordination pattern between limbs (i.e., interlimb coordination). For this purpose, we employed an approach wherein we construct a simple mathematical model based on biological insights. We proposed a phenomenological model that can describe fluid dynamics and built a three-dimensional robot model with a simple local reflexive mechanism based on the interaction between flexor muscles and body fluid in their legs. As a first step, we succeeded in reproducing locomotion in which two legs move in anti-phase via simulation.</p>

  65. ヘビ型ロボットの環境適応性の向上に向けた自律分散制御に関する一考察

    大滝範幸, 安井浩太郎, 加納剛史, 石黒章夫

    第33回自律分散システム・シンポジウム　2021/03/14

  66. 環境に呼応して足並みが柔軟に変化するムカデ型ロボットの自律分散制御則

    高野俊輔, 安井浩太郎, 加納剛史, 小林亮, 石黒章夫

    第21回計測自動制御学会システムインテグレーション部門講演会（SI2020）　2020/12/18

  67. ムカデの適応的な振る舞いを生み出す制御構造の理解に向けて

    安井浩太郎

    ネットワーク科学セミナー2020　2020/12/17

  68. Measurement of insect wing beat with novel vibration sensor

    Ryota Yanagisawa, Shunsuke Shigaki, Kotaro Yasui, Dai Owaki, Yasuhiro Sugimoto, Akio Ishiguro, Masahiro Shimizu

    The 42nd Annual Meeting of The Japanese Society for Comparative Physiology and Biochemistry　2020/11/22

  69. Towards understanding adaptive motor control mechanisms underlying walking and swimming in centipedes

    Kotaro Yasui, Takeshi Kano, Emily M. Standen, Hitoshi Aonuma, Auke J. Ijspeert, Akio Ishiguro

    The 42th Annual Meeting of the Japanese Society for Comparative Physiology and Biochemistry　2020/11/22

  70. 経済活動を考慮したCOVID-19流行の数理モデル

    加納剛史, 安井浩太郎, 三上大志, 浅利宗弘, 石黒章夫

    日本数理生物学会年会　2020/09/20

  71. 環境に呼応して足並みが柔軟に変化する多脚ロボットの脚間協調制御則

    高野 俊輔, 安井 浩太郎, 加納 剛史, 小林 亮, 石黒 章夫

    ロボティクス・メカトロニクス講演会　2020/05/29

  72. 胴体の屈曲と伸縮を巧みに切り替えて移動するゴカイに内在する自律分散制御則

    菅野 健, 安井 浩太郎, 加納 剛史, 石黒 章夫

    ロボティクス・メカトロニクス講演会　2020/05/29

  73. Development of Polychaete-like Robot That Coordinates Limb Motion with Body Undulation

    KONNO Takumi, YASUI Kotaro, FUKUHARA Akira, KANO Takeshi, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019

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    <p>Polychaetes have a number of body segments with a pair of parapodia. They walk and swim effectively by coordinating motion of parapodia and undulation of the flexible body. Clarifying the control mechanism underlying coordination between parapodia and body, we can not only provide new insights to biology but also contribute to developing multi-legged robots that can move effectively. For that purpose, our previous study proposed a decentralized control scheme that enables coordination between the motion of parapodia and body undulation in polychaete locomotion and validated it via simulations. However, the validity of the control scheme in the real world environment has not been verified yet. Accordingly, in this study, we developed a polychaete-like robot as a platform for validation.</p>

  74. Development of Multi-legged Robot Capable of Adaptively Changing the Direction of Leg Density Waves

    TAKANO Shunsuke, YASUI Kotaro, HAYASE Yumino, FUKUHARA Akira, KANO Takeshi, KOBAYASHI Ryo, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019

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    <p>Myriapod walking is achieved by propagating leg density waves along the body axis, and the leg density wave is classified as direct wave or retrograde wave compared to the direction of body movement. It is known that the direction of leg density waves differs according to the species, but the determining factor for such a difference is not understood well. In order to solve the problem, we previously observed the locomotion of centipedes and reported that direct wave gait could be generated by a control mechanism to avoid leg crossing. However, the control mechanism for generating retrograde wave gait has not been investigated enough. In this paper, we extended the previous control scheme by considering a walking strategy of following the ground contact point for retrograde wave gait and developed a multi-legged robot as a platform to validate the control scheme.</p>

  75. Decentralized Control of a Hexapod Robot Capable of Generating Walking Motion in Response to the Slipperiness of the Terrain

    SUDA Wataru, YASUI Kotaro, FUKUHARA Akira, KANO Takeshi, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019

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    <p>Insects can walk in unstructured environments such as trees and rocks by changing foot trajectory and coordination pattern between limbs (i.e., interlimb coordination). Although we previously proposed a simple decentralized control scheme using local feedback based on ground reaction force, the control mechanism underlying adaptive foot trajectory in insects' locomotion has not yet been clarified. To reveal the control mechanism in adaptive foot trajectory, this study conducted biological experiments in which crickets walk up against a slope with inhomogeneous frictional coefficient. Based on experimental results, we propose a decentralized control mechanism in which adaptive foot trajectory changes in response to the slipperiness of the terrain.</p>

  76. Decoding Flexibility of Motor Control Underlying Amphibious Locomotion of Centipedes

    Kotaro Yasui

    The 15th International Conference on the Simulation of Adaptive Behavior (SAB2018)　2018/08

  77. Development of Centipede-like Robot Based on Decentralized Control Utilizing Body Undulation

    FURUKAWA Kazuki, YASUI Kotaro, KANO Takeshi, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018

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    <p>Centipedes(Scolopendridae) with a large number of legs and segments can move effectively by combining legged motion and body undulation. Clarifying the underlying control mechanism will help not only to contribute to biology but also to develop highly adaptive bio-inspired robots. However, a decentralized control mechanism that coordinates the centipede legs and the body to generate adaptive locomotion has not been elucidated. In this paper, as a first step, we proposed a decentralized control scheme that enables well-balanced coupling between the legged motion and body undulation by using a simplified model of centipede's mechanical system. We designed "bilateral" local sensory feedbacks between legs and body. In order to verify the proposed control scheme, we developed a centipede-like robot as a platform.</p>

  78. Undulatory Swimming Locomotion Driven by CPG with Multimodal Local Sensory Feedback

    Kyoichi Akiyama, Kotaro Yasui, Jonathan Arreguit, Laura Paez, Kamilo Melo, Takeshi Kano, Auke Jan Ijspeert, Akio Ishiguro

    BIOMIMETIC AND BIOHYBRID SYSTEMS　2018

  79. Decentralized Control Mechanism Underlying Interlimb Coordination of Centipedes International-presentation International-coauthorship

    Kotaro Yasui, Kazuki Kikuchi, Takeshi Kano, Yumino Hayase, Shigeru Kuroda, Hitoshi Aonuma, Ryo Kobayashi, Akio Ishiguro

    The 8th International Symposium on Adaptive Motion of Animals and Machines (AMAM2017)　2017/06

  80. Interlimb Coordination of Multi-legged Robot utilizing the Softness of the Body

    KIKUCHI Kazuki, YASUI Kotaro, KANO Takeshi, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017

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    <p>Animals exhibit versatile locomotion patterns in response to the environment. To understand the underlying decentralized control mechanism, this study focuses on centipedes which exhibit highly versatile locomotion patterns. It is known that centipedes move by using their legs and body undulation. In addition to this, we report here that centipedes can move by combining expansion and contraction of the body trunk with leg motion when they climb up slippery sticks. We hypothesized that this behavior emerges by exploiting local forces generated at the junction between the body trunk and the legs as well as the ground reaction forces. On this basis, a simple autonomous decentralized control rule is proposed, and it is demonstrated via simulation that the above-mentioned behavior can be reproduced by the proposed mechanism.</p>

  81. Development of Decentralized-Controlled Myriapod Robot Based on Local Force Feedback

    KANO Takeshi, YASUI Kotaro, OWAKI Dai, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2016

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    <p>Legged animals exhibit adaptive and resilient locomotion through their inter-limb coordination. Our motivation is to elucidate the inter-limb coordination mechanism underlying various legged animals from a unified viewpoint. However, it still remains elusive because the locomotion mechanism of multi-legged animals has not been well studied. To address this issue, in our previous work, we focused on millipede and proposed an autonomous decentralized control scheme for myriapod locomotion on the basis of behavioral experiments. In this study, we performed real-world experiments with a multi-legged robot developed and reproduced myriapod locomotion farily well.</p>

  82. Local Reflexive Mechanism for Interlimb Coordination of Multi-legged Robot

    YASUI Kotaro, KANO Takeshi, OWAKI Dai, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2016

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    <p>Autonomous decentralized control could be the key to design adaptive multi-legged robots that can function in unpredictable and unstructured environments. To address this issue, we focus on centipedes with a large number of legs and aim to understand the ingenious decentralized control mechanism underlying their highly adaptive locomotion. For this purpose, we employed an approach to construct a simple mathematical model on the basis of behavioral experiments. We then found that the ground reaction force plays a significant role in generating rhythmic leg movement, and that the motion of each leg is likely affected by sensory input from its neighboring legs. On this basis, we proposed a two-dimensional model wherein a simple local reflexive mechanism was implemented. As a result, our simulated centipede robot could move adaptively in response to the changes in the environment, like real centipedes.</p>

  83. Decentralized Control Scheme for Myriapod Locomotion That Exploits Local Force Feedback

    Takeshi Kano, Kotaro Yasui, Dai Owaki, Akio Ishiguro

    BIOMIMETIC AND BIOHYBRID SYSTEMS, LIVING MACHINES 2016　2016

  84. Decentralized Control Scheme for Centipede Locomotion Based on Local Reflexes

    Kotaro Yasui, Takeshi Kano, Dai Owaki, Akio Ishiguro

    BIOMIMETIC AND BIOHYBRID SYSTEMS, LIVING MACHINES 2016　2016

Show all Show first 5

Research Projects 10

  1. 身体・神経改変ムカデから染み出るタフな運動知能のエッセンス

    安井 浩太郎, 脇田 大輝

    Offer Organization: 日本学術振興会

    System: 科学研究費助成事業

    Category: 基盤研究(B)

    Institution: 東北大学

    2025/04 - 2028/03

  2. Decoding Morphology-independent Flexible Motor Control Function by Artificially Altering Animal Morphology

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research

    Category: Fund for the Promotion of Joint International Research (International Collaborative Research)

    Institution: Tohoku University

    2023/09/08 - 2027/03/31

  3. キャナライゼーション・ベースト制御：ムカデから学ぶ合目的的行動の自己組織化方策

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (A)

    Category: Grant-in-Aid for Scientific Research (A)

    Institution: Kobe University

    2022/04 - 2027/03

  4. ムカデの触角センシングに学ぶタフな未知空間探査能力の実装法

    安井 浩太郎

    Offer Organization: 日本学術振興会

    System: 科学研究費助成事業 若手研究

    Category: 若手研究

    Institution: 東北大学

    2023/04/01 - 2026/03/31

  5. 動物の多様な移動形態に通底する制御原理の構成論的理解

    Offer Organization: タフ・サイバーフィジカルＡＩ研究センター

    2022/07 - 2023/03

  6. Super mode-rich locomotion: how animals navigate unpredictable environments

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research Grant-in-Aid for Early-Career Scientists

    Category: Grant-in-Aid for Early-Career Scientists

    Institution: Tohoku University

    2021/04 - 2023/03

  7. Designing Super-survival System by Studying Bacterial Biofilm Formation

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research

    Category: Fund for the Promotion of Joint International Research (Fostering Joint International Research (B))

    Institution: Tohoku University

    2019/10 - 2023/03

  8. 動物の多様な移動形態に通底する運動制御原理の抽出

    安井浩太郎

    Offer Organization: タフ・サイバーフィジカルＡＩ研究センター

    2021/07 - 2022/03

  9. ムカデの触角センシングに学ぶ動物の無限定環境踏破能力

    安井浩太郎

    Offer Organization: タフ・サイバーフィジカルＡＩ研究センター

    2020/09 - 2021/03

  10. ムカデが示す歩行・遊泳間の遷移現象から解き明かす生物の適応的運動機能の発現機序

    安井 浩太郎

    Offer Organization: 日本学術振興会

    System: 科学研究費助成事業 特別研究員奨励費

    Category: 特別研究員奨励費

    Institution: 東北大学

    2017/04 - 2020/03

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    ムカデ（Scolopendra subspinipes mutilans）は陸上においては脚運動により歩行する一方で，水中では胴体の屈曲運動により遊泳する．こうした振る舞いは，脚や胴体といった身体部位に有する多数の自由度の協調パターンを巧みに変化させることで実現されている．本研究では，このムカデが示す環境に応じた運動パターンの生成に着目し，その発現機序を明らかにすることで，生物の環境適応的な振る舞いの背後にある柔軟な運動制御の本質を捉えることを目的とした． 以下，本年度（平成30年度）の研究実績について報告する．本年度は，前年度までに蓄積してきた行動観察実験の結果をもとに，ムカデが示す歩行・遊泳間の運動パターンの遷移を再現しうる数理モデルの構築に取り組んだ．具体的には，水中と陸上という２つの異なる環境間を遷移する際の運動パターンの変化に着目することで，足場の有無に応じて各体節レベルで分散的に歩行と遊泳の運動モードが選択されているとの仮説を得た．そして，脚の接地感覚情報に基づく局所センサフィードバックにより各体節ごとに歩行運動と遊泳運動を切り替える自律分散制御則を設計した．その結果，本制御則を用いたシミュレーション実験により，ムカデの歩行・遊泳間の遷移現象を行動観察結果と定性的に同等なレベルで再現することに成功した．本研究成果は，歩行と遊泳という全く異なる運動パターン間の遷移において脚の感覚情報に基づく局所センサフィードバックが介在していることを示した点で非常に意義深いと考えている．

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Teaching Experience 4

  1. 数理モデリングPBL-Ⅰ　東北大学

  2. 創造工学研修　東北大学工学部

  3. 学問論演習　東北大学

  4. 創造工学研修　東北大学工学部

Social Activities 3

  1. ムカデに学ぶ生き物らしいロボット知能の創りかた

    東北大学附置研究所等一般公開 片平まつり2025 「わくわく、発見、研究所はワンダーランド」

    2025/10/11 -

  2. ムカデの多彩な身のこなしから探る動物の自律的運動知能の源泉

    令和5年度「工業系支援機関ネットワーク研修会」

    2023/12/12 -

  3. ムカデの多彩な身のこなしから動物の自律的運動知能の源泉に迫る

    第一回共創研究所交流会

    2023/07/14 -

Media Coverage 16

  1. How undulatory animals control their locomotion in water and on land

    International Human Frontier Science Program Organization

    2025/09/25

    Type: Internet

  2. Eels’ Secret to Movement Could Help Design Next-Gen Advanced Robots

    Tomorrow’s World Today

    2025/09/11

    Type: Internet

  3. Spinal secrets: What eels reveal about the origins of movement

    Earth.com

    2025/09/10

    Type: Internet

  4. Eel-Inspired Robot Reveals How Animals Navigate Between Water and Land Using Redundant Sensing Systems

    Karmactive

    2025/09/09

    Type: Internet

  5. Eels’ locomotion secret could help design next-gen advanced robots

    Interesting Engineering

    2025/09/08

    Type: Internet

  6. Eel-Inspired Robots: How Amphibians Tackle Tough Terrain

    Mirage.News

    2025/09/06

    Type: Internet

  7. ウナギが水中も陸上も泳げる仕組みを数式とロボットを用いて解明 ～「伸び」と「圧」の感覚を活用した運動制御が鍵～

    東北大学プレスリリース

    2025/09/05

  8. 【ムカデの言い分】多数の脚を動かす驚きの仕組みとは？クネクネ動きが人類を救う⁉

    NHK　ヴィランの言い分

    2024/05

  9. 陸上と水中を自在に動き回るムカデから学ぶ柔軟な「身のこなし方」

    東北大学プレスリリース

    2019/12/03

  10. 陸上と水中で動きを変えて自在に移動するムカデの制御メカニズムを解明――水陸両用ロボットなどへの応用に期待

    fabcross for エンジニア

    2019/12

    Type: Internet

  11. How centipedes navigate through land and water

    Science Daily

    2019/12

    Type: Internet

  12. Something in the way it moves -Studying a centipede sheds light on adaptive locomotion.

    Cosmos

    2019/12

    Type: Internet

  13. 「陸上と水中 柔軟に適応」ムカデの興味深い動き解明

    科学新聞

    2019/12

    Type: Internet

  14. Comment les mille-pattes passent-ils si facilement de la marche à la nage?

    ICI Radio-Canada

    2019/12

    Type: Internet

  15. 東北大など、ムカデの運動制御メカニズムを再現し得る数理モデル構築に接近

    国立環境研究所 環境展望台

    2019/12

    Type: Internet

  16. 水陸自在のムカデ、運動制御の仕組みを解明 ロボット工学への応用も 東北大ら

    財経新聞

    2019/12

    Type: Internet

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