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Abstract
Morphology is an important factor in locomotion. It may guide the control strategies that an animal or a robot uses for efficient locomotion. In this paper we try to understand the locomotion strategies of a lizard with a distinctive feature, the long-tailed lizard Takydromus sexlineatus. We recorded the performance of real animals in terms of forward speed and then developed a simulation model respecting the morphometric characteristics of long-tailed lizards. We then run systematic tests altering several control parameters of the model. The simulation experiments suggested possible control strategies for effective locomotion given this type of morphology. The experiments were not constrained or guided by any prior knowledge on specific animal angular kinematics. Therefore, the good match between the suggested kinematics for optimal speed and the kinematics of the real animal suggests that our framework is capable of exploring in the future the effects of morphosis on the locomotion strategies of animals, e.g. to perform the same study with shorter or no tail.
Keywords
real animal kinematics, locomotion strategies, specific animal angular kinematics, optimal speed, morphology type, model control parameters, morphometric characteristics, simulation model, animal control strategies, robot control strategies, robot kinematics, motion control, long-tailed lizard Takydromus sexlineatus, mobile robots

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MLA
Karakasiliotis, Konstantinos, Kristiaan D’Aout, Peter Aerts, et al. “Locomotion Studies and Modeling of the Long-tailed Lizard Takydromus Sexlineatus.” Proceedings of the IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. Ed. JP Desai, LPS Jay, & L Zollo. New York, NY, USA: IEEE, 2012. 943–948. Print.
APA
Karakasiliotis, K., D’Aout, K., Aerts, P., & Ijspeert, A. J. (2012). Locomotion studies and modeling of the long-tailed lizard Takydromus sexlineatus. In J. Desai, L. Jay, & L. Zollo (Eds.), Proceedings of the IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (pp. 943–948). Presented at the 2012 4th IEEE RAS and EMBS International conference on Biomedical Robotics and Biomechatronics (BioRob 2012), New York, NY, USA: IEEE.
Chicago author-date
Karakasiliotis, Konstantinos, Kristiaan D’Aout, Peter Aerts, and Auke Jan Ijspeert. 2012. “Locomotion Studies and Modeling of the Long-tailed Lizard Takydromus Sexlineatus.” In Proceedings of the IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, ed. JP Desai, LPS Jay, and L Zollo, 943–948. New York, NY, USA: IEEE.
Chicago author-date (all authors)
Karakasiliotis, Konstantinos, Kristiaan D’Aout, Peter Aerts, and Auke Jan Ijspeert. 2012. “Locomotion Studies and Modeling of the Long-tailed Lizard Takydromus Sexlineatus.” In Proceedings of the IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, ed. JP Desai, LPS Jay, and L Zollo, 943–948. New York, NY, USA: IEEE.
Vancouver
1.
Karakasiliotis K, D’Aout K, Aerts P, Ijspeert AJ. Locomotion studies and modeling of the long-tailed lizard Takydromus sexlineatus. In: Desai J, Jay L, Zollo L, editors. Proceedings of the IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. New York, NY, USA: IEEE; 2012. p. 943–8.
IEEE
[1]
K. Karakasiliotis, K. D’Aout, P. Aerts, and A. J. Ijspeert, “Locomotion studies and modeling of the long-tailed lizard Takydromus sexlineatus,” in Proceedings of the IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, Rome, Italy, 2012, pp. 943–948.
@inproceedings{3108860,
  abstract     = {{Morphology is an important factor in locomotion. It may guide the control strategies that an animal or a robot uses for efficient locomotion. In this paper we try to understand the locomotion strategies of a lizard with a distinctive feature, the long-tailed lizard Takydromus sexlineatus. We recorded the performance of real animals in terms of forward speed and then developed a simulation model respecting the morphometric characteristics of long-tailed lizards. We then run systematic tests altering several control parameters of the model. The simulation experiments suggested possible control strategies for effective locomotion given this type of morphology. The experiments were not constrained or guided by any prior knowledge on specific animal angular kinematics. Therefore, the good match between the suggested kinematics for optimal speed and the kinematics of the real animal suggests that our framework is capable of exploring in the future the effects of morphosis on the locomotion strategies of animals, e.g. to perform the same study with shorter or no tail.}},
  author       = {{Karakasiliotis, Konstantinos and D'Aout, Kristiaan and Aerts, Peter and Ijspeert, Auke Jan}},
  booktitle    = {{Proceedings of the IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics}},
  editor       = {{Desai, JP and Jay, LPS and Zollo, L}},
  isbn         = {{9781457712005}},
  issn         = {{2155-1782}},
  keywords     = {{real animal kinematics,locomotion strategies,specific animal angular kinematics,optimal speed,morphology type,model control parameters,morphometric characteristics,simulation model,animal control strategies,robot control strategies,robot kinematics,motion control,long-tailed lizard Takydromus sexlineatus,mobile robots}},
  language     = {{eng}},
  location     = {{Rome, Italy}},
  pages        = {{943--948}},
  publisher    = {{IEEE}},
  title        = {{Locomotion studies and modeling of the long-tailed lizard Takydromus sexlineatus}},
  url          = {{http://dx.doi.org/10.1109/BioRob.2012.6290836}},
  year         = {{2012}},
}

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