Brainless Walking: Animal Gaits Emerge From an Actuator Characteristic.

In this study, we discovered a phenomenon in which a quadruped robot without any sensors or microprocessor can autonomously generate the various gait patterns of animals using actuator characteristics and select the gaits according to the speed. The robot has one DC motor on each limb and a slider-crank mechanism connected to the motor shaft. Since each motor is directly connected to a power supply, the robot only moves its foot on an elliptical trajectory under a constant voltage. Although this robot does not have any computational equipment such as sensors or microprocessors, when we applied a voltage to the motor, each limb begins to adjust its gait autonomously and finally converged to a steady gait pattern. Furthermore, by raising the input voltage from the power supply, the gait changed from a pace to a half-bound, according to the speed, and also we observed various gait patterns, such as a bound or a rotary gallop. We investigated the convergence property of the gaits for several initial states and input voltages and have described detailed experimental results of each gait observed.

Microinjection support system for small biological subjects.

In biological research, various experiments such as behavioral experiments and physiological ones are often conducted with pharmacologically treated animals. In such experiments, it is necessary to inject the same volume of solution into numerous small animals, such as insects to prepare several experimental subjects. However, repeating manual injections is burdensome, and it is also difficult to maintain injection quality and consistency. We have developed a microinjection system that can support and semiautomate the injections of small animals. The system consists of two cameras, a micromanipulator, a syringe pump, and a structural framework all operated from a personal computer to quickly inject the same volume of liquid solutions at the same position and depth into small animals. The microinjection system has sufficient extensibility for it to be used in a variety of applications.

Defecation initiates walking in the cricket Gryllus bimaculatus.

Feces provides information about the donor and potentially attracts both conspecifics and predators and also parasites. The excretory system must be coordinated with other behaviors in insects. We found that crickets started walking forward following defecation. Most intact crickets walked around the experimental arena, stopped at a particular site and raised their bodies up with a slight backward drift to defecate. After the feces dropped to the floor, a cricket started walking with a non-coordinated gait pattern away from the defecation site, and then changed to a tripod gait. To demonstrate that walking is a reflex response to defecation we analyzed the behavior of headless crickets and found that they also showed walking following defecation. In more than half of defecation events, headless crickets walked backwards before defecation. The posture adopted during defecation was similar to that of intact crickets, and forward walking after defecation was also observed. The frequency of forward walking after defecation in headless crickets was greater than in intact crickets. The gait pattern during forward walking was not coordinated and never transitioned to a tripod gait in headless crickets. In animals whose abdominal nerve cords were cut, in any position, pre- or post-defecation walking was not shown in either intact or headless crickets, although they defecated. These results indicated that the terminal abdominal ganglion receives information regarding hind gut condition. It also indicated that ascending signals from the terminal abdominal ganglion initiated leg movement through the neuronal circuits within the thoracic ganglia, and that descending signals from the brain must regulate the leg motor circuit to express the appropriate walking gait.

[Walking mechanism embedded in body structure].

In this note, we consider the control system of a biological system. Further, we point out the existence of the problem of indivisibility in the control system. To understand the principle of mobile adaptability embedded in the control system, we must solve the problem of indivisibility. To solve this problem, we propose the concept of an implicit control law. In addition to this proposal, we consider the usual explicit control law. Next, we demonstrate an example of the implicit control law embedded in the problem of a passive dynamic walking system. Finally, we state that the intelligence of the biological system must be constructed using both the explicit and the implicit control laws.