Suzuki, ShuraFukuhara, AkiraOwaki, DaiKano, TakeshiIjspeert, Auke J.Ishiguro, Akio2018-01-152018-01-152018-01-15201710.23919/SICE.2017.8105624https://infoscience.epfl.ch/handle/20.500.14299/143851WOS:000418323700005The coordination of body and limbs motions contributes to effective propulsion in limed locomotion. However, there is lack of understanding that characterizes the mechanism underlying the body-limb coordination. The aim of this study involves clarifying the mechanism through mathematical modeling and dynamic simulation. To this end, a body-limb coordination model was designed based on a simple rule by effectively using a pivot turn. The model successfully generated locomotion similar to primitive tetrapod walking, e.g. salamander and Polypterus walking based on their physical properties.Body-limb coordinationPrimitive tetrapod walkingAutonomous decentralized controltext::conference output::conference proceedings::conference paper