Details of the Researcher

PHOTO

Shura Suzuki
Section
Research Institute of Electrical Communication
Job title
Assistant Professor

Research History 4

  • 2024/04 - Present
    Tohoku University　Research Institute of Electrical Communication

  • 2021/04 - 2024/03
    Japan Society for the Promotion of Science

  • 2021/04 - 2024/03
    Osaka University　Graduate School of Engineering

  • 2020/04 - 2021/03
    Japan Society for the Promotion of Science

Education 4

  • Tohoku University　Graduate School of Engineering　Doctoral Program, Department of Electrical Engineering

    2018/04 - 2021/03

  • Tohoku University　Graduate School of Engineering　Master's Program, Department of Electrical Engineering

    2015/04 - 2018/03

  • Tohoku University　Faculty of Engineering　Undergraduate Program, Department of Electrical, Information and Physics Engineering

    2011/04 - 2015/03

  • Sakura High School, Chiba Prefecture

    2008/04 - 2011/03

Committee Memberships 7

  • 日本ロボット学会　会誌編集委員

    2026/04 - Present

  • DARS 2026 The 18th International Symposium on Distributed Autonomous Robotic Systems Organizing Committee　Publicity Chair

    2025/11 - Present

  • 東北大学附置研究所若手アンサンブルプロジェクト　WG委員

    2025/04 - Present

  • Frontiers in Neurorobotics Review editor

    2023/01 - Present

  • 公益社団法人 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　自律分散システム部会運営委員

    2024/04 - 2026/03

  • 計測自動制御学会自律分散システム部会　第34回自律分散システム・シンポジウム実行委員

    2021 - 2022

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

    2023/06 -

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Professional Memberships 3

  • システム制御情報学会

    2021/05 - Present

  • 計測自動制御学会

    2018/02 - Present

  • 日本ロボット学会

    2015/03 - Present

Research Interests 4

  • 数理モデリング

  • ロコモーション

  • 自律分散制御

  • 生物規範制御

Research Areas 3

  • Informatics / Robotics and intelligent systems /

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

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

Awards 7

  1. 部門優秀論文表彰

    2026/06　日本機械学会　ペースメーカーライトを利用した移動ロボットの速度制御

  2. 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）優秀講演賞

    2026/01　イモムシ群移動の構成論的理解に向けた群ロボットの開発：第一報：多関節能動車輪機構における登坂性能の検証

  3. 東北大学電気・情報系 若手優秀研究賞

    2025/03　東北大学電気・情報系 研究教授会

  4. 計測自動制御学会関西支部支部長賞奨励賞

    2023/01　計測自動制御学会関西支部　非生物ロコモーションのための手応え制御：三叉ヘビを用いたケーススタディ

  5. 計測自動制御学会学術奨励賞・研究奨励賞

    2022/02　計測自動制御学会　原始四足動物の歩行運動制御に関する一考察

  6. 第314回計測自動制御学会東北支部研究集会 優秀発表奨励賞

    2018/02　計測自動制御学会東北支部　頭部運動を活用する四脚ロボットのCPG制御

  7. 第21回創発システム・シンポジウム優秀講演賞

    2015/09　計測自動制御学会　環境を友とする四脚ロボット

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Papers 10

  1. Sensory-driven neck–limb coordination mechanisms for walk-trot-gallop gait transitions Peer-reviewed

    Shura Suzuki, Atsushi Norita, Yuya Asaoka, Akira Fukuhara, Masato Ishikawa, Ryo Kobayashi, Akio Ishiguro

    Scientific Reports　2026/07/12

    Publisher: Springer Science and Business Media LLC

    DOI： 10.1038/s41598-026-61565-9 　

    eISSN： 2045-2322

  2. Multisensory feedback makes swimming circuits robust against spinal transection and enables terrestrial crawling in elongate fish 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)　e2422248122　2025/08/26

    DOI： 10.1073/pnas.2422248122 　

  3. Foot trajectory as a key factor for diverse gait patterns in quadruped robot locomotion Peer-reviewed

    Shura Suzuki, Kosuke Matayoshi, Mitsuhiro Hayashibe, Dai Owaki

    Scientific Reports　15　(1)　1861　2025/01/13

    Publisher: Springer Science and Business Media LLC

    DOI： 10.1038/s41598-024-84060-5 　

    eISSN： 2045-2322

  4. Bicycle-inspired simple balance control method for quadruped robots in high-speed running Peer-reviewed

    Shoei Hattori, Shura Suzuki, Akira Fukuhara, Takeshi Kano, Akio Ishiguro

    Frontiers in Robotics and AI　11　1473628　2025/01/06

    Publisher: Frontiers Media SA

    DOI： 10.3389/frobt.2024.1473628 　

    eISSN： 2296-9144

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    This paper explores the applicability of bicycle-inspired balance control in a quadruped robot model. Bicycles maintain stability and change direction by intuitively steering the handle, which induces yaw motion in the body frame and generates an inertial effect to support balance. Inspired by this balancing strategy, we implemented a similar mechanism in a quadruped robot model, introducing a yaw trunk joint analogous to a bicycle’s steering handle. Simulation results demonstrate that the proposed model achieves stable high-speed locomotion with robustness against external disturbances and maneuverability that allows directional changes with only slight speed reduction. These findings suggest that utilizing centrifugal force plays a critical role in agile locomotion, aligning with the movement strategies of cursorial animals. This study underscores the potential of bicycle balance control as an effective and straightforward control approach for enhancing the agility and stability of quadruped robots as well as potentially offering insights into animal motor control mechanisms for agile locomotion.

  5. Velocity control of mobile robots using Pace Maker Light system Peer-reviewed

    MITANI Yusuke, SUZUKI Shura, MINAMI Yuki, ISHIKAWA Masato

    Transactions of the JSME (in Japanese)　89　(918)　22-00250-22-00250　2023

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/transjsme.22-00250 　

    eISSN： 2187-9761

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    Automated driving is attracting attention as a technology that can improve the convenience and comfort of mobility. Research on automated driving continues to develop not only in the approach of vehicle automation but also in the approach of driver assistance. As an example of driver assistance technologies, a system has been proposed in which multiple light sources are placed at equal intervals in a tunnel and blink to encourage drivers to adjust their speed. This system is called a Pace Maker Light (PML). In this paper, we focus on the PML and consider applying it to automatic driving. Therefore, this paper aims to realize the velocity control of an autonomous mobile robot using the PML. First, we modeled the PML and the mobile robot and formulated the design problem of the velocity controller of the robot. Then, we proposed a control law that can achieve velocity control based on the light intensity information obtained from the PML. Finally, we conducted velocity control simulations and experiments with a miniature-scale experimental setup. As a result, it was confirmed that the proposed method could be used to achieve the target speed on a level road and a slope.

  6. Simple decentralized control mechanism that enables limb adjustment for adaptive quadruped running. International-journal Peer-reviewed

    Akira Fukuhara, Yukihiro Koizumi, Tomoyuki Baba, Shura Suzuki, Takeshi Kano, Akio Ishiguro

    Proceedings of the Royal Society B: Biological Sciences　288　(1962)　20211622-20211622　2021/11/10

    Publisher:

    DOI： 10.1098/rspb.2021.1622 　

    ISSN： 0962-8452

    eISSN： 1471-2954

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    Quadrupeds exhibit versatile and adaptive running by exploiting the flying phase during the stride cycle. Various interlimb coordination mechanisms focusing on mechanical loads during the stance phase have been proposed to understand the underlying control mechanism, and various gait patterns have been reproduced. However, the essential control mechanism required to achieve both steady running patterns and non-steady behaviours, such as jumping and landing, remains unclear. Therefore, we focus on the vertical motions of the body parts and propose a new decentralized interlimb coordination mechanism. The simulation results demonstrate that the robot can generate efficient and various running patterns in response to the morphology of the body. Furthermore, the proposed model allows the robot to smoothly change its behaviour between steady running and non-steady landing depending on the situation. These results suggest that the steady and non-steady behaviours in quadruped adaptive running may share a common simple control mechanism based on the mechanical loads and vertical velocities of the body parts.

  7. Spontaneous Gait Transitions of Sprawling Quadruped Locomotion by Sensory-Driven Body-Limb Coordination Mechanisms. International-journal Peer-reviewed

    Shura Suzuki, Takeshi Kano, Auke Jan Ijspeert, Akio Ishiguro

    Frontiers in Neurorobotics　15　645731-645731　2021

    Publisher:

    DOI： 10.3389/fnbot.2021.645731 　

    eISSN： 1662-5218

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    Deciphering how quadrupeds coordinate their legs and other body parts, such as the trunk, head, and tail (i.e., body-limb coordination), can provide informative insights to improve legged robot mobility. In this study, we focused on sprawling locomotion of the salamander and aimed to understand the body-limb coordination mechanisms through mathematical modeling and simulations. The salamander is an amphibian that moves on the ground by coordinating the four legs with lateral body bending. It uses standing and traveling waves of lateral bending that depend on the velocity and stepping gait. However, the body-limb coordination mechanisms responsible for this flexible gait transition remain elusive. This paper presents a central-pattern-generator-based model to reproduce spontaneous gait transitions, including changes in bending patterns. The proposed model implements four feedback rules (feedback from limb-to-limb, limb-to-body, body-to-limb, and body-to-body) without assuming any inter-oscillator coupling. The interplay of the feedback rules establishes a self-organized body-limb coordination that enables the reproduction of the speed-dependent gait transitions of salamanders, as well as various gait patterns observed in sprawling quadruped animals. This suggests that sensory feedback plays an essential role in flexible body-limb coordination during sprawling quadruped locomotion.

  8. Sprawling Quadruped Robot Driven by Decentralized Control With Cross-Coupled Sensory Feedback Between Legs and Trunk. International-journal Peer-reviewed

    Shura Suzuki, Takeshi Kano, Auke Jan Ijspeert, Akio Ishiguro

    Frontiers in Neurorobotics　14　607455-607455　2020

    Publisher:

    DOI： 10.3389/fnbot.2020.607455 　

    eISSN： 1662-5218

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    Quadruped animals achieve agile and highly adaptive locomotion owing to the coordination between their legs and other body parts, such as the trunk, head, and tail, that is, body-limb coordination. This study aims to understand the sensorimotor control underlying body-limb coordination. To this end, we adopted sprawling locomotion in vertebrate animals as a model behavior. This is a quadruped walking gait with lateral body bending used by many amphibians and lizards. Our previous simulation study demonstrated that cross-coupled sensory feedback between the legs and trunk helps to rapidly establish body-limb coordination and improve locomotion performance. This paper presented an experimental validation of the cross-coupled sensory feedback control using a newly developed quadruped robot. The results show similar tendencies to the simulation study. Sensory feedback provides rapid convergence to stable gait, robustness against leg failure, and morphological changes. Our study suggests that sensory feedback potentially plays an essential role in body-limb coordination and provides a robust, sensory-driven control principle for quadruped robots.

  9. Decentralized control mechanism for body-limb coordination in quadruped running. Peer-reviewed

    Akira Fukuhara, Yukihiro Koizumi, Shura Suzuki, Takeshi Kano, Akio Ishiguro

    Adaptive Behavior　28　(3)　151-164　2020

    Publisher:

    DOI： 10.1177/1059712319865180 　

    ISSN： 1059-7123

    eISSN： 1741-2633

  10. Decentralized control with cross-coupled sensory feedback between body and limbs in sprawling locomotion. International-journal Peer-reviewed

    Shura Suzuki, Takeshi Kano, Auke J Ijspeert, Akio Ishiguro

    Bioinspiration & Biomimetics　14　(6)　066010-066010　2019/09/24

    Publisher: {IOP} Publishing

    DOI： 10.1088/1748-3190/ab3ef6 　

    eISSN： 1748-3190

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    Quadrupeds achieve rapid and highly adaptive locomotion owing to the coordination between their legs and other body parts such as their trunk, head, and tail, i.e. body-limb coordination. Therefore, a better understanding of the mechanism underlying body-limb coordination could provide informative insights into the improvement of legged robot mobility. Sprawling locomotion is a walking gait with lateral bending exhibited in primitive legged vertebrates such as salamanders and newts. Because primitive animals are anticipated to possess the essence of quadruped motor control, their locomotion helps better understand body-limb coordination mechanisms. Previous studies modeled neural networks in salamanders and employed it to control robots and investigate and emulate sprawling locomotion. However, these models predefined the relationship between the legs and the trunk, such that how body-limb coordination is attained is largely unknown. In this article, we demonstrate that sensory feedback facilitates body-limb coordination in sprawling locomotion and improves mobility through mathematical modeling and robot simulations. Our proposed model has cross-coupled sensory feedback, that is, bidirectional feedback from body to limb and limb to body, which leads to an appropriate relationship between the legs and the trunk without any predefined relationship. Resulting gaits are similar to the sprawling locomotion of salamanders and achieve high speed and energy efficiency that are at the same level as those of a neural network model, such as conventional models, optimizing the relationship between the legs and the trunk. Furthermore, sensory feedback contributes to the adaptability toward leg failure, and the bidirectionality of feedback facilitates parameter tuning for stable locomotion. These results suggest that cross-coupled sensory feedback facilitates sprawling locomotion and potentially plays an important role in the body-limb coordination mechanism.

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Misc. 1

  1. 全身自由度を活用する四脚ロコモーションの自律分散制御則に関する研究

    鈴木, 朱羅

    東北大学電通談話会記録　87　(1)　118-119　2018/08

    Publisher: 東北大学電気通信研究所

    ISSN： 0385-7719

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    紀要類（bulletin）

Presentations 71

  1. Toward Synthetic Understanding of Caterpillar Swarm Locomotion-Part 3 - Implementation and Verification of Load-Sensing System-

    2026/06/29

  2. Multi-articulated Vehicle That Mimics Caterpillar Swarm Locomotion International-presentation

    Shura Suzuki, Daisuke Nakanishi, Keisuke Naniwa, Yasuhiro Sugimoto, Tetsuya Kinugasa, Masato Ishikawa, Akio Ishiguro

    RoboSoft 2026　2026/04/10

  3. イモムシ群移動の構成論的理解に向けた群ロボットの開発-第二報：二機体による相互昇降性能の検証-

    鈴木朱羅, 中西大輔, 浪花啓右, 杉本靖博, 衣笠哲也, 石川将人, 石黒章夫

    第38回 自律分散システム・シンポジウム　2026/02/18

  4. Toward Synthetic Understanding of Caterpillar Swarm Locomotion: Part 1 - Gradeability Verification of a Multi-articulated Vehicle

    Shura SUZUKI, Daisuke NAKANISHI, Keisuke NANIWA, Tetsuya KINUGASA, Masato ISHIKAWA, Akio ISHIGURO

    2025/12/11

  5. Swarm makes softness: Approach for soft-hard hybrid robot International-presentation Invited

    Shura Suzuki

    Workshop on Bio-inspired Robotics and Physical AI　2025/09/15

  6. 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

    2025/09/11

  7. Lizard-Like Robot with Decoupled Oscillator-Based Control

    Shura Suzuki, Akio Ishiguro

    SICE-FES 2025　2025/09/11

  8. Walk-Trot-Gallop Transition with Spinal Flexion in a Quadruped Model

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

    The 12th International Symposium on Adaptive Motion of Animals and Machines and 2nd LokoAssist Symposium　2025/07/08

  9. Decentralized Control for Morphology-Adaptive Gait Generation in Sprawling Quadruped Locomotion

    Shura Suzuki, Satoshi Maeda, Kotaro Yasui, Akio Ishiguro

    The 12th International Symposium on Adaptive Motion of Animals and Machines and 2nd LokoAssist Symposium　2025/07/08

  10. Simple Cellular Automaton Model for Understanding Caterpillar Swarm Locomotion

    Shura Suzuki, Keisuke Naniwa, Masato Ishikawa, Akio Ishiguro

    2025/07/08

  11. Decentralized Intra-Limb Coordination Mechanisms Toward Whole-Body Coordinated Quadruped Locomotion

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

    The 12th International Symposium on Adaptive Motion of Animals and Machines and 2nd LokoAssist Symposium　2025/07/08

  12. 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

    ロボティクス・メカトロニクス講演会2025 in Yamagata　2025/06/05

  13. イモムシ群移動の原理検証機構の開発

    鈴木朱羅, 浪花啓右, 石川将人, 石黒章夫

    ロボティクス・メカトロニクス講演会2025 in Yamagata　2025/06/05

  14. 手応え制御を活用したモジュラーロボットの開発

    鈴木 朱羅, 石黒 章夫

    第69回 システム制御情報学会 研究発表講演会　2025/05/27

  15. Sensory-Driven Whole-Body Coordination Mechanism for Quadrupedal Walking

    Seokhyun KIM, Shoei HATTORI, Shura SUZUKI, Kotaro YASUI, Akio ISHIGURO

    2025/01/16

  16. イモムシ群の集団移動制御に関する一考察

    鈴木朱羅, 浪花啓右, 石川将人, 石黒章夫

    第37回自律分散システム・シンポジウム　2025/01/15

  17. イモムシ群が示すローリングスワームに着想を得た自律分散制御

    鈴木朱羅, 浪花啓右, 石川将人, 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)　2024/11/15

  18. 色を知るAI：ChatGPTが示す色彩の言語表現

    鈴木朱羅, 末岡裕一郎, 石黒章夫, 石川将人

    計測自動制御学会 システム・情報部門学術講演会2024(SSI2024)　2024/11/15

  19. 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 ー四脚動物の脚部・胴体部・頭頸部間協調運動に関する一考察ー

    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)　2024/11/15

  20. 動物の運動制御を制御理論からみるために Invited

    鈴木朱羅

    令和6年度第1回ブレインウェア工学研究会　2024/07/22

  21. 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, 服部祥英, 鈴木朱羅, 安井浩太郎, 石黒章夫

    日本ロボット学会学術講演会予稿集(CD-ROM)　2024

  22. 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-胴体・脚間協調制御原理に関する一考察-

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

    日本ロボット学会学術講演会予稿集(CD-ROM)　2024

  23. Exploring Autonomous Decentralized Control Mechanism for Body-limb Coordination in Sprawling Locomotion

    前田慧史, 澤田悟空, 浅岡雄也, 服部祥英, 服部祥英, 鈴木朱羅, 鈴木朱羅, 安井浩太郎, 小林亮, 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講演論文集(CD-ROM)　2024

  24. Development of high-integratable force sensitive pneumatic valve (FSPV)

    中西大輔, 後藤貴滉, 浦大介, 杉本靖博, 鈴木朱羅, 浪花啓右, 増田容一

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2024

  25. Sensory-motor network of a robot created with valves

    増田容一, 後藤貴滉, 浪花啓右, 中西大輔, 浦大介, 鈴木朱羅, 杉本靖博

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2024

  26. Body-Limb Coordination Mechanism for Quadruped Robot with Soft Body Trunk

    澤田悟空, 前田慧史, 浅岡雄也, 服部祥英, 服部祥英, 鈴木朱羅, 鈴木朱羅, 安井浩太郎, 福原洸, 小林亮, 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講演論文集(CD-ROM)　2024

  27. Estimation of Vehicle Position and Speed Using Traffic Mirror Images at Intersection

    Hiroto Kawahata, Yuki Minami, Shura Suzuki, Masto Ishikawa

    29th International Symposium on Artificial Life and Robotics　2024/01

  28. ロボットをつくりながら動物の運動のからくりを知る Invited

    鈴木朱羅

    第8回FRIS/DIARE Joint Workshop　2023/08/07

  29. Asynchronous Bilateral Body Bending Enables Fast Cheetah-like Rotary Galloping

    Suzuki Shura, Asaoka Yuya, Maeda Satoshi, Amaike Hayato, Ishiguro Akio

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

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    The 11th International Symposium on Adaptive Motion of Animals and Machines. Kobe University, Japan. 2023-06-06/09. Adaptive Motion of Animals and Machines Organizing Committee. Poster Session P6

  30. Diverse Gait Generation of Quadruped Robots Through Foot Trajectories

    又吉康介, 鈴木朱羅, 林部充宏, 大脇大

    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(CD-ROM)　2023

  31. Body-limb Coordination Mechanism for Versatile Galloping Patterns in Quadruped Locomotion

    浅岡雄也, 前田慧史, 服部祥英, 服部祥英, 鈴木朱羅, 鈴木朱羅, 小林亮, 石黒章夫

    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(CD-ROM)　2023

  32. Umwelt of Tegotae-based Control: Toward Understanding Gait Transition

    鈴木朱羅, 石川将人

    自律分散システム・シンポジウム(CD-ROM)　2023

  33. Toward Design Principle for Tegotae-based Control

    鈴木朱羅, 鈴木朱羅, 安井浩太郎, 福原洸, 大脇大, 加納剛史, 石黒章夫

    自律分散システム・シンポジウム(CD-ROM)　2023

  34. Polysemy arising from the situation: Polysemy arising from massdistrubution and friction

    増田容一, 鈴木朱羅, 福原洸, 石川将人

    自律分散システム・シンポジウム(CD-ROM)　2023

  35. Why does the Fastest Quadruped Runner Show Rotary Gallop?

    浅岡雄也, 前田慧史, 天池隼斗, 鈴木朱羅, 鈴木朱羅, 小林亮, 石黒章夫

    自律分散システム・シンポジウム(CD-ROM)　2023

  36. 機械式CPGおよび皮膚感覚受容器を備えた無脳ヘビ型ロボットの適応的運動生成

    増田容一, 後藤貴滉, 浪花啓右, 浦大介, 中西大輔, 鈴木朱羅, 杉本靖博, 大須賀公一

    日本ロボット学会学術講演会予稿集(CD-ROM)　2023

  37. Prototype of a Highly Decentralized and Super-Multipedal Brainless Walking Robot

    MASUDA Yoichi, GOTO Takahiro, NANIWA Keisuke, URA Daisuke, NAKANISHI Daisuke, SUZUKI Shura, SUGIMOTO Yasuhiro, OSUKA Koichi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2023

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    This research aims to construct a super multi-leg, super-distributed walking robot with more than 100 legs by using a design approach that distributes a large number of mechanical control devices throughout the robot’s body. The robot does not have any sensors or computers and generates periodic motions autonomously by applying a constant pressure of compressed air. In this paper, we report on the development of body modules that constitutes a highly decentralized and super-multipedal walking robot and on the development of an autonomous decentralized walking robot with a total of 18 legs by combining three modules.

  38. Exploring Mechanisms Underlying Cheetah-like Rotary Gallop by a Simple Robot

    MAEDA Satoshi, ASAOKA Yuya, HATTORI Shoei, SUZUKI Shura, KOBAYASHI Ryo, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2023

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    Cheetah is the fastest quadruped in the animal kingdom. To understand the mechanisms underlying the high-speed running ability, we focus on the two key characteristics of cheetah running: trunk bending and footfall pattern, known as rotary gallop. While trunk bending contributes to stride extension, the extent to which the footfall pattern contributes to high-speed running remains unclear. To address this issue, we hypothesized that the rotary gallop allows for effective utilization of trunk bending. A previous simulation study suggested that flexible trunk bending in response to the footfall pattern improves running speed. In this paper, we present a simple wheeled robot to verify our hypothesis in the real world.

  39. Decoupled Oscillator-based Control for Lizard-like walking

    Shura Suzuki, Takeshi Kano, Akio Ishiguro

    SICE Annual Conference 2022　2022/09

  40. 脚式動物に通底する運動制御の理解を目指して Invited

    鈴木朱羅

    Neuro-robotics seminar　2022/07/27

  41. Speed-dependent Neck-limb Coordination Mechanism Underlying Horse’s Lococmotion

    乗田篤志, 浅岡雄也, 鈴木朱羅, 鈴木朱羅, 福原洸, 加納剛史, 石黒章夫

    自律分散システム・シンポジウム(CD-ROM)　2022

  42. Decentralized Control Mechanisms for Trunk, Head, and Tail-limb Coordination in Quadruped Running.

    Shura Suzuki, Yuya Asaoka, Atsushi Norita, Akira Fukuhara, Masato Ishikawa, Akio Ishiguro

    Robotics in Natural Settings - CLAWAR 2022(CLAWAR)　2022

  43. Tegotae-Based Control for Non-animal-like Locomotion: A Case Study with Trident Snake.

    Shura Suzuki, Masato Ishikawa

    Robotics in Natural Settings - CLAWAR 2022(CLAWAR)　2022

  44. Decentralized Control That Can Generate Morphology-dependent Quadrupedal Running

    ASAOKA Yuya, NORITA Atsushi, SUZUKI Shura, FUKUHARA Akira, ISHIGURO Akio

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

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    Quadrupeds exhibit a variety of running patterns by orchestrating the whole-body degrees of freedom (DOF). This excellent coordination mechanism inherent in quadruped locomotion has attracted much attention so far. However, previous studies have focused on specific animals, and there has been no unified discussion of their mechanisms. In this study, we propose a unified perspective underlying various quadruped running patterns, and a systematic design methodology for morphology-dependent whole-body DOF coordination mechanisms. For this purpose, we focused on the motion of the torso, having the majority of the body mass, and systematically constructed control laws for two body models: one with an active joint for head nodding, and the other with an active joint for body bending. As a result of the simulations, we successfully reproduced the running patterns depending on the body model.

  45. Decentralized Control Mechanisms for a Walking Fish (Polypterus senegalus)

    Suzuki Shura, Kano Takeshi, Standen M. Emily, Ijspeert J. Auke, Ishiguro Akio

    2021/06

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    The 9.5th international symposium on Adaptive Motion of Animals and Machines. Ottawa，Canada (Virtual Platform). 2021-06-22/25. Adaptive Motion of Animals and Machines Organizing Committee.

  46. Decentralized Control Mechanisms Underlying Neck–limb Coordination in Horse Walking and Trotting

    Suzuki Shura, Norita Atsushi, Fukuhara Akira, Kano Takeshi, Ishiguro Akio

    2021/06

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    The 9.5th international symposium on Adaptive Motion of Animals and Machines. Ottawa，Canada (Virtual Platform). 2021-06-22/25. Adaptive Motion of Animals and Machines Organizing Committee.

  47. Model-free balance control for running quadruped robots using bicycle dynamics

    Hattori Shoei, Suzuki Shura, Fukuhara Akira, Kano Takeshi, Ishiguro Akio

    2021/06

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    The 9.5th international symposium on Adaptive Motion of Animals and Machines. Ottawa，Canada (Virtual Platform). 2021-06-22/25. Adaptive Motion of Animals and Machines Organizing Committee.

  48. サンショウウオから紐解く脚と胴体の協調運動を生み出す制御原理

    鈴木朱羅, 鈴木朱羅, 加納剛史, IJSPEERT Auke J., 石黒章夫

    日本ロボット学会学術講演会予稿集(CD-ROM)　2021

  49. A Study on Motor Control of Primitive Tetrapod Walking

    鈴木朱羅, 鈴木朱羅, 加納剛史, STANDEN Emily M., IJSPEERT Auke J., 石黒章夫

    自律分散システム・シンポジウム(CD-ROM)　2021

  50. Development of Neck Units That Quadruped Robot Can Exploit for Efficient Nodding Walking

    FUKUHARA Akira, GUNJI Megu, MASUDA Yoichi, TADAKUMA Kenjiro, SUZUKI Shura, KANO Takeshi, ISHIGURO Akio

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

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    Modern-day quadruped robots are expanding their versatility on tasks like patrolling and manipulating by the implementation of an additional robot manipulator like the neck of the animal. During locomotion, However, the extra robotic arm harms the robot’s locomotor capability and efficiency due to the additional weight. To solve this problem, this study focuses on “nodding behavior” of quadrupeds. Quadrupeds(e.g., horses) likely swing down and up their large head and neck in specific timings during walking, consequently saving energetic loss due to vertical motion of the center of mass. This paper develops a simple neck model inspired by the anatomical structure of the horse’s neck and elucidates the relationship between neck angle and resultant torque. The results suggest that anatomical neck structure may affect the effective range of neck angle during the nodding walking behavior for efficient locomotion.

  51. Towards Realization of Legged Robot Capable of Adaptive Running

    BABA Tomoyuki, SUZUKI Shura, FUKUHARA Akira, KANO Takeshi, ISHIGURO Akio

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

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    Quadrupeds exhibit versatile gait patterns according to locomotion speed and environment. In particular, they exhibit jumping motion during high-speed running. To investigate how the gait patterns and jumping motion are generated, various intraspinal neural network model have been proposed. However, high-speed running on uneven terrain was not realized. To address the problem, we focused on the vertical velocity of the body parts and designed a new leg-control model that realizes jump by considering leg control during the swing phase. As simulation results, we succeeded in widening the range of locomotion speed and running on uneven terrain. In this study, we developed a one-legged hopping robot and verified the proposed model in the real world.

  52. Decentralized Control of a Quadruped Robot That Can Generate Speed-dependent Adaptive Neck Movements

    NORITA Atsushi, SUZUKI Shura, FUKUHARA Akira, KANO Takeshi, ISHIGURO Akio

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

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    When horses walk, they move their necks as well as legs rhythmically. In addition, horses exhibit versatile neck movements according to locomotion speed. This phenomenon could be a key to understanding how animals orchestrate their large degrees of freedom in their bodies. However, the mechanism underlying this phenomenon still remains elusive. In the present study, we propose a decentralized control mechanism for the coordination of neck and limb movements in which inclination of the body trunk is fed back into neck and limb motions. Using a simple two-dimensional physical simulator we developed, we successfully reproduced speed-dependent neck movements during walk and trot gaits.

  53. Development of Quadruped Robot for Stable and Adaptive High-Speed Running

    BABA Tomoyuki, SUZUKI Shura, FUKUHARA Akira, KANO Takeshi, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2020

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    Quadrupeds exhibit versatile gait patterns in response to locomotion speed. In our previous study, we designed a simple leg-control rule that can exhibit gait transition from walk to gallop according to locomotion speed. However, high-speed locomotion was not realized due to lack of jumping motion. To address the problem, we designed a new leg-control model that realizes jump by modifying leg motion during the swing phase. As simulation results, we succeeded in realizing jump and widening the range of locomotion speed. In this study, we developed a one-legged hopping robot in order to verify the proposed model in the real world.

  54. Sprawling Quadruped Robot Driven by Decentralized Control That Coordinates Leg and Body Motions

    Suzuki Shura, Kano Takeshi, Ijspeert Auke J., Ishiguro Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2020

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    Sprawling locomotion is a quadruped walking gait with lateral body bending used by salamanders, lizards, and crocodiles and so on. It presents an interesting example of how quadrupeds coordinate their legs and other body parts such as the trunk, head, and tail for adaptive locomotion, i.e., an interesting example of body–limb coordination. A better understanding of this body–limb coordination mechanism can provide informative insights into animal locomotion control and into the improvement of the legged robot mobility. Previously, we demonstrated that sensory feedback facilitates body–limb coordination in sprawling locomotion using a decentralized control with cross-coupled sensory feedback between the legs and the trunk. In this proceeding, we conducted the experimental validation of the proposed control using a developed quadruped robot. The resulting gait showed stable sprawling locomotion and presented the usefulness of sensory feedback for body–limb coordination, even in the real world.

  55. A Salamander Robot Driven by Cross-coupled Sensory Feedback Control Between Legs and Trunk

    Shura Suzuki, Takeshi Kano, Auke J. Ijspeer, Akio Ishiguro

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

  56. トカゲ様歩行に着想を得た脚と胴体の協調運動を生成する自律分散制御則

    鈴木朱羅, 加納剛史, IJSPEERT Auke J., 石黒章夫

    自律分散システム・シンポジウム(CD-ROM)　2019

  57. Decentralized Coordination Mechanism between Neck and Limbs for Efficient Quadrupedal Walking.

    Akira Fukuhara, Shura Suzuki, Takeshi Kano, Akio Ishiguro

    2019 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS)　2019

  58. Quadruped Robot That Exploits Body-limb Coordination for High Speed Running

    KOIZUMI Yukihiro, SUZUKI Shura, FUKUHARA Akira, KANO Takeshi, ISHIGURO Akio

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

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    Most quadruped robots move mainly by limb motions. In contrast, quadrupeds, such as cheetah and greyhound, achieve ultra high-speed locomotion by coordinating body and limb motions, i.e., body-limb coordination. Therefore, clarifying the body-limb coordination mechanism will help to improve a robot’s agility. In our previous work, we proposed a simple two-dimensional mathematical model that coordinates body and limb motions autonomously and successfully reproduced high-speed locomotion via simulations and robot experiments. As a next step, we extended this two-dimensional model into the three-dimensional model and developed a quadruped robot to verify the proposed control scheme.

  59. A Simple Body-Limb Coordination Rule Underlying Primitive Tetrapod Locomotion Invited

    Shura Suzuki

    The 5th International Symposium on Brainware LSI　2018/02/23

  60. Minimal Model for Body-Limb Coordination in Quadruped High-Speed Running.

    Akira Fukuhara, Yukihiro Koizumi, Shura Suzuki, Takeshi Kano, Akio Ishiguro

    From Animals to Animats 15 - 15th International Conference on Simulation of Adaptive Behavior(SAB)　2018

  61. Cheetah-like High Speed Running Robot That Exploits Body-limb Coordination

    KOIZUMI Yukihiro, SUZUKI Shura, FUKUHARA Akira, KANO Takeshi, ISHIGURO Akio

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

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    Most four-legged robots move mainly by limb motions. In contrast, quadrupeds move by coordinating body and limb motions, i.e., body-limb coordination. The body plays an important role in quadruped locomotion in terms of increasing the propulsion force and extending the stride length. The aim of this study is clarifying the control mechanism for body-limb coordination underlying animal locomotion. In our previous work, we proposed an extremely simple mathematical model that well coordinates body and limb motions autonomously and successfully reproduced high speed running via two-dimensional simulations. In this study, we developed a robot to validate the proposed control scheme in the real world.

  62. A simple body-limb coordination model that mimics primitive tetrapod walking

    Shura Suzuki, Akira Fukuhara, Dai Owaki, Takeshi Kano, Auke J. Ijspeert, Akio Ishiguro

    2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)　2017/09

  63. A Minimal Model for Body-limb Coordination in Quadruped Locomotion

    Shura Suzuki, Akira Fukuhara, Dai Owaki, Takeshi Kano, Auke J. Ijspeer, Akio Ishiguro

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

  64. 四脚動物の高速走行時における胴体・脚間の協調メカニズムのミニマルモデル

    小泉幸煕, 鈴木朱羅, 福原洸, 福原洸, 加納剛史, 石黒章夫, 石黒章夫

    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(CD-ROM)　2017

  65. Quadruped Gait Transition from Walk to Pace to Rotary Gallop by Exploiting Head Movement

    Shura Suzuki, Dai Owaki, Akira Fukuhara, Akio Ishiguro

    2016/07

  66. 頭部運動の活用による四脚ロコモーションの歩容遷移

    鈴木朱羅, 福原洸, 大脇大, 石黒章夫, 石黒章夫

    自律分散システム・シンポジウム(CD-ROM)　2016

  67. 頭部運動を活用した四脚ロボットのWalk-Pace-Rotaly gallop間歩容遷移

    大脇大, 鈴木朱羅, 福原洸, 福原洸, 石黒章夫, 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講演論文集(CD-ROM)　2016

  68. Quadruped Gait Transition from Walk to Pace to Rotary Gallop by Exploiting Head Movement

    OWAKI Dai, SUZUKI Shura, FUKUHARA Akira, Ishiguro Akio

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

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    Quadruped exhibit versatile gait patterns according to locomotion speed, environment, and animal species. Such locomotor patterns are generated through coordination between leg movements, i.e., “interlimb coordination.” Although various studies have been conducted so far, the mechanism responsible for interlimb coordination remains elusive. Here, we investigate the effect of head motion on quadruped gait transition to high speed gait patterns. Through simulations using a simple quadruped robot with the head, we reproduced gait transition from walk to pace, to rotary gallop by exploiting head movement.

  69. TEGOTAE-based CPG Control for Quadruped Locomotion

    Dai Owaki, Shura Suzuki, Akio Ishiguro

    7th International Symposium on Adaptive Motion of Animals and Machines (AMAM2015)　2015/06

  70. TEGOTAE-based CPG Control of Quadruped Robot

    SUZUKI Shura, OWAKI Dai, ISHIGURO Akio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2015

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    Quadrupeds exhibit adaptive locomotion under real-world environment. Such locomotion is generated via the coordination between legs, i. e., interlimb coordination and is controlled by a neural network called central pattern generator (CPG). However, underlying mechanism remains elusive. To establish the design principle of highly adaptive quadruped locomotion, we propose a "TEGOTAE"-based CPG control that exploits vertical and horizontal ground reaction forces (GRFs) from environment. In this paper, we develop a quadruped robot with GRF sensing mechanism and verify the validity of proposed control scheme.

  71. イモムシ群の奇妙な移動様式に着想を得た 群ロボットの開発 Invited

    鈴木朱羅

    東北大学 タフ･サイバーフィジカル AI研究センター シンポジウム　2026/05/28

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Research Projects 7

  1. 大地を泳ぐトカゲから切り拓く臨機応変な全身統御理論

    鈴木 朱羅

    Offer Organization: 日本学術振興会

    System: 科学研究費助成事業

    Category: 若手研究

    Institution: 東北大学

    2025/04 - 2028/03

  2. ロボット憑依による生成AIの言語理解

    Offer Organization: 公益財団法人 大川情報通信基金

    System: 国内研究助成

    Institution: 東北大学

    2026/03 - 2027/03

  3. 古生物運動制御学：絶滅動物の運動様式の革新的復元方法の創成

    石黒 章夫, 福原 洸, 佐藤 たまき, 鈴木 朱羅, 加納 剛史

    Offer Organization: 日本学術振興会

    System: 科学研究費助成事業

    Category: 基盤研究(A)

    Institution: 東北大学

    2022/04/01 - 2026/03/31

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    (1) 前後ヒレ間協調制御のありように関する考察： これまでは，首長竜ロボットの胴体を水槽に固定した状況下で，前後ヒレ間の協調がどうあるべきかを考察してきた．しかしながらこのような状況下では，前ヒレの羽ばたきが生み出した渦を後ろヒレがどう活用して効率的な推進力を生み出すかという問題に集約してしまう．換言すれば，前後ヒレ間の力学的相互作用は，前ヒレから後ろヒレへの一方向でしかないことに気がついた．現実の首長竜は，水中で胴体が固定されているわけではないので，後ろヒレの羽ばたきによって反作用のために胴体が回転し，その結果前ヒレの動きに影響を与えていたはずである．すなわち，実際の首長竜では前後ヒレ間に働く力学的相互作用は双方向的であったのである．そこで，胴体を水槽に固定するのではなく，回転ジョイントを介して固定するプラットフォームの設計を行った．本年度は，マンチェスター大学の古生物学者であるBill Sellers教授と議論した結果を参考にして，そのプロトタイプを作成した． (2) 大型回流水槽の設計・製作： これまでに用いてきた回流水槽は小型で，検証できる首長竜ロボットのサイズに大きな制約があった．そこで今後の研究の展開を見据え，縦と横のサイズを約２倍とした大型回流水槽の製作を開始した． (3) 前後ヒレ間，ならびにヒレ内協調制御則に関する考察： 本年度は，今後首長竜ロボットに実装するヒレ間ならびにヒレ内協調制御則に関して再考察を行った．具体的には，申請者らが最近提唱している「手応え」という概念に基づき，これらの協調制御則の数理モデリングを試みた．

  4. イモムシ群の奇妙な移動様式に着想を得た群クローラ機構の開発

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

    Category: タフ・サイバーフィジカルAI研究プロジェクト

    2025/09 - 2026/03

  5. 現代制御と動物規範制御のハイブリッド理論の創成：手応えに基づくアプローチ

    鈴木 朱羅

    Offer Organization: 日本学術振興会

    System: 科学研究費助成事業

    Category: 特別研究員奨励費

    Institution: 大阪大学

    2023/03/08 - 2025/03/31

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    本研究課題では，現代制御の汎用性と動物規範制御の適応性を兼ね備えたハイブリッドな制御理論の創成を目指す．そして，目的の達成のため，手応え制御を足がかりとしたアプローチを展開する．手応え制御は，多様な動物の運動を再現可能な動物規範制御の一手法である．これまで本手法の適用対象は動物規範ロボットに限定されていたが，本手法を任意の構造に適用可能な制御手法へと拡張することで目的の達成を試みる． 初年度は，同一の制御アルゴリズムによる多様な身体構造の移動制御の実現を軸として研究を推進した．具体的な成果を以下に示す． （１）手応え制御の非生物構造への実装 現代制御と動物規範制御をリンクさせるためには，その双方の制御対象となる構造から考察を進めていくことが肝要となると考えた．そこで，三叉ヘビと呼ばれる構造に着目した．三叉ヘビとは，中央のベースプレートから3つの足が放射状に延びた構造である．その推進原理は非自明であるものの，先行研究によって理論的に明らかになっている．当該構造に手応え制御を実装したところ，自発的な並進運動および回転運動の生成が確認された．これは，手応え制御が動物の運動と同様に三叉ヘビの運動も生成可能であることを示し，三叉ヘビが現代制御と動物規範制御の双方から議論可能な構造であることを示している． （２）身体構造によらない四足歩行のための手応え制御則の提案 四足動物は多様な形態を有し，その形態に応じて四肢と他の身体部位（頭部，胴体部，尾部）の運動を巧みに協調させることで優れた運動能力を実現している．しかし，その一方で，その運動制御系には多くの共通点が存在することが確認されている．そこで，同一制御による身体構造に応じた運動生成が可能な制御則を提案し，構成論的に汎動物種運動制御の考察を試みた．現段階では，シミュレーション実験による身体構造に応じた運動再現に成功した．

  6. アメーバに着想を得た大変形柔軟移動ロボットの開発

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

    Category: タフ・サイバーフィジカルAI研究プロジェクト

    2024/09 - 2025/03

  7. 特異なロコモーション様式を発現するワニから切り拓く全身自由度の統御原理

    鈴木 朱羅

    Offer Organization: 日本学術振興会

    System: 科学研究費助成事業

    Category: 特別研究員奨励費

    2020/04/24 - 2022/03/31

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    四脚動物は複雑な自然環境を自由に走破する．その優れた運動能力は，脚のみならず頭部や尾部，胴体をも含めた全身の運動自由度を状況に応じて巧みに協調させることで実現される．本研究では，この全身運動生成を担う制御メカニズムを明らかにするため，ワニの移動運動に着目する．ワニは活動的な動物ではないものの四脚動物が示す全運動様式を発現する全身運動のエキスパートなのである．具体的な研究手法として，ワニの神経生理学的知見を基にその全運動様式を再現可能なロボットの構築を行う．そして，ロボット実験を通して四脚動物の身体構造や移動速度，環境に応じた運動生成メカニズムについて考察する． 以下，最終年度の研究実績について報告する．前年度では，ワニが陸上を低速移動する際に用いる胴体の屈曲を伴う歩行様式（トカゲ様歩行：sprawling locomotion）の運動制御メカニズムの理解を試みた．本年度では，この成果をもとに多種多様な動物の運動様式の再現に取り組んだ．その結果，チーターのような胴体の屈曲を伴う走行やウマが示す頭部の揺動を伴う歩行・走行運動においてもトカゲ様歩行で考察された感覚フィードバックを活用した閉ループ制御による制御メカニズムが重要な役割を果たしていることが示唆された．本研究成果は，四脚動物が示す全身運動自由度の協調制御原理の本質的理解に大いに資するものであり，工学においても多様な形態を有する四脚ロボットの制御系設計に有用な知見を与えるものと期待される．以上より，本研究課題の目的は概ね達成されたと考えている．

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Teaching Experience 2

  1. 学生実験A　東北大学工学研究科電気情報物理工学科

  2. 数理モデリングPBL　東北大学人工知能エレクトロニクス卓越大学院プログラム

Media Coverage 14

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

    Tomorrow’s World Today

    2025/09/11

    Type: Internet

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

    Earth.com

    2025/09/10

    Type: Internet

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

    Karmactive

    2025/09/09

    Type: Internet

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

    Interesting Engineering

    2025/09/08

    Type: Internet

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

    Mirage.News

    2025/09/06

    Type: Internet

  6. Eel-astic robots? Stretch and Pressure are the Keys to Eels' Remarkable Locomotive Abilities

    Tohoku University Press Release

    2025/09/05

    Type: Internet

  7. 【トカゲの言い分】なぜ尻尾が切れる？皮膚が最新医療に、歩き方が宇宙で役立つ⁉

    NHK｜日本放送協会　ヴィランの言い分　https://www.nhk.jp/p/ts/YM3WKRZWZQ/blog/bl/pJN4zneEyV/bp/pgv9VJn5Jb/

    2024/12

    Type: TV or radio program

  8. Investigating the mechanism of whole-body motor control of lizard locomotion and its link to applications in robotics

    Science Japan　https://sj.jst.go.jp/news/202111/n1102-03k.html

    2021/11/02

    Type: Internet

  9. 日本东北大学等根据蜥蜴的步态，阐明其全身运动控制机制

    客観日本　https://www.keguanjp.com/kgjp_keji/kgjp_kj_robot/pt20210913000002.html

    2021/09/13

    Type: Internet

  10. Decoding how salamanders walk

    Science Daily　https://www.sciencedaily.com/releases/2021/08/210802140201.htm

    2021/08/02

    Type: Internet

  11. VÍDEO: EL NACIMIENTO DE LOS ROBOTS-SALAMANDRA

    Quo　https://quo.eldiario.es/tecnologia/q2107335564/robots-salamandras-caminar

    2021/07/31

    Type: Internet

  12. Decoding how salamanders walk

    Mirage News　https://www.miragenews.com/decoding-how-salamanders-walk-605303

    2021/07/30

  13. Decoding how salamanders walk

    Tech Explore　https://techxplore.com/news/2021-07-decoding-salamanders.html

    2021/07/30

    Type: Internet

  14. Decoding how salamanders walk

    EurekAlert!　https://www.eurekalert.org/news-releases/923994

    2021/07/30

    Type: Internet

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