{"id":"https://openalex.org/W7119501839","doi":"https://doi.org/10.1007/s10015-025-01113-2","title":"Millipedes suggest decentralized trunk\u2013limb coordination control is essential for inter-limb coordination in many-legged locomotion","display_name":"Millipedes suggest decentralized trunk\u2013limb coordination control is essential for inter-limb coordination in many-legged locomotion","publication_year":2026,"publication_date":"2026-01-09","ids":{"openalex":"https://openalex.org/W7119501839","doi":"https://doi.org/10.1007/s10015-025-01113-2"},"language":"en","primary_location":{"id":"doi:10.1007/s10015-025-01113-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10015-025-01113-2","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10015-025-01113-2.pdf","source":{"id":"https://openalex.org/S104439334","display_name":"Artificial Life and Robotics","issn_l":"1433-5298","issn":["1433-5298","1614-7456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Artificial Life and Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10015-025-01113-2.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011040818","display_name":"Kotaro Yasui","orcid":"https://orcid.org/0000-0001-8199-581X"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kotaro Yasui","raw_affiliation_strings":["Frontier Research Institute for Interdisciplinary Sciences, Tohoku University, Sendai, 980-8578, Japan","Research Institute of Electrical Communication, Tohoku University, Sendai, 980-8577, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Frontier Research Institute for Interdisciplinary Sciences, Tohoku University, Sendai, 980-8578, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Research Institute of Electrical Communication, Tohoku University, Sendai, 980-8577, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122352432","display_name":"Tatsumi Yamaichi","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tatsumi Yamaichi","raw_affiliation_strings":["Department of Electrical Engineering, Graduate School of Engineering, Tohoku University, Sendai, 980-8579, Japan","Research Institute of Electrical Communication, Tohoku University, Sendai, 980-8577, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Graduate School of Engineering, Tohoku University, Sendai, 980-8579, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Research Institute of Electrical Communication, Tohoku University, Sendai, 980-8577, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5105811676","display_name":"\u77f3\u9ed2 \u7ae0\u592b","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Akio Ishiguro","raw_affiliation_strings":["Research Institute of Electrical Communication, Tohoku University, Sendai, 980-8577, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute of Electrical Communication, Tohoku University, Sendai, 980-8577, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5011040818"],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":{"value":2990,"currency":"USD","value_usd":2990},"apc_paid":{"value":2990,"currency":"USD","value_usd":2990},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.02519239,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"31","issue":"1","first_page":"34","last_page":"45"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.864300012588501,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.864300012588501,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.040300000458955765,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10332","display_name":"Amphibian and Reptile Biology","score":0.0203000009059906,"subfield":{"id":"https://openalex.org/subfields/2306","display_name":"Global and Planetary Change"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/motor-coordination","display_name":"Motor coordination","score":0.7623999714851379},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.5332000255584717},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5291000008583069},{"id":"https://openalex.org/keywords/coordination-game","display_name":"Coordination game","score":0.5200999975204468},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.4440999925136566},{"id":"https://openalex.org/keywords/millipede","display_name":"Millipede","score":0.39309999346733093},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3901999890804291}],"concepts":[{"id":"https://openalex.org/C113062710","wikidata":"https://www.wikidata.org/wiki/Q2463100","display_name":"Motor coordination","level":2,"score":0.7623999714851379},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.678600013256073},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.5332000255584717},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5291000008583069},{"id":"https://openalex.org/C107257861","wikidata":"https://www.wikidata.org/wiki/Q656316","display_name":"Coordination game","level":2,"score":0.5200999975204468},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.4440999925136566},{"id":"https://openalex.org/C2775837333","wikidata":"https://www.wikidata.org/wiki/Q167367","display_name":"Millipede","level":2,"score":0.39309999346733093},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3901999890804291},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.37299999594688416},{"id":"https://openalex.org/C94487597","wikidata":"https://www.wikidata.org/wiki/Q11101","display_name":"Sensory system","level":2,"score":0.3538999855518341},{"id":"https://openalex.org/C137813230","wikidata":"https://www.wikidata.org/wiki/Q2996165","display_name":"Motor control","level":2,"score":0.3422999978065491},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.31220000982284546},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.299699991941452},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2863999903202057},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27889999747276306},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.26489999890327454}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10015-025-01113-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10015-025-01113-2","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10015-025-01113-2.pdf","source":{"id":"https://openalex.org/S104439334","display_name":"Artificial Life and Robotics","issn_l":"1433-5298","issn":["1433-5298","1614-7456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Artificial Life and Robotics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s10015-025-01113-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10015-025-01113-2","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10015-025-01113-2.pdf","source":{"id":"https://openalex.org/S104439334","display_name":"Artificial Life and Robotics","issn_l":"1433-5298","issn":["1433-5298","1614-7456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Artificial Life and Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3090639077","display_name":null,"funder_award_id":"JP22H00216","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7119501839.pdf"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W1648369341","https://openalex.org/W1973311280","https://openalex.org/W1999104896","https://openalex.org/W2042863560","https://openalex.org/W2081665157","https://openalex.org/W2090388215","https://openalex.org/W2092392650","https://openalex.org/W2108401836","https://openalex.org/W2156174987","https://openalex.org/W2171073614","https://openalex.org/W2534659528","https://openalex.org/W2584831625","https://openalex.org/W2604255923","https://openalex.org/W2623473014","https://openalex.org/W2749701166","https://openalex.org/W2766255495","https://openalex.org/W2793417935","https://openalex.org/W2794181634","https://openalex.org/W2916204896","https://openalex.org/W2990656397","https://openalex.org/W3010437603","https://openalex.org/W3041566139","https://openalex.org/W3150467306","https://openalex.org/W3196792082","https://openalex.org/W4225746558","https://openalex.org/W4313644265","https://openalex.org/W4324021071","https://openalex.org/W4402914989","https://openalex.org/W4405610978","https://openalex.org/W4412531688"],"related_works":[],"abstract_inverted_index":{"Abstract":[0],"Many-legged":[1],"arthropods,":[2],"such":[3],"as":[4],"myriapods,":[5],"exhibit":[6],"coordinated":[7,49],"stepping":[8],"patterns":[9,21],"during":[10],"walking.":[11],"Although":[12],"they":[13],"are":[14],"known":[15],"to":[16],"use":[17],"similar":[18],"inter-limb":[19,63,109],"coordination":[20,64,73,92,110],"across":[22],"species,":[23],"it":[24],"remains":[25],"elusive":[26],"whether":[27],"common":[28],"control":[29,93,129],"principles":[30,130],"exist":[31],"for":[32],"many-legged":[33,66,85,112,132],"locomotion.":[34,133],"To":[35,75],"address":[36],"this":[37,58,77],"issue,":[38],"we":[39,60,79,101],"observed":[40],"millipede":[41],"walking":[42],"and":[43,87],"found":[44],"that":[45,62,103,120],"subtle":[46],"trunk-pitch":[47],"bending,":[48],"with":[50,114],"leg":[51,116],"movements,":[52],"sometimes":[53],"appears.":[54],"Drawing":[55],"inspiration":[56],"from":[57],"finding,":[59],"hypothesized":[61],"in":[65],"locomotion":[67],"could":[68],"be":[69],"generated":[70],"via":[71],"trunk\u2013limb":[72,91],"control.":[74],"test":[76],"hypothesis,":[78],"constructed":[80],"a":[81,89],"neuro-mechanical":[82],"model":[83,105,122],"of":[84,111],"animals":[86],"proposed":[88],"simple":[90],"based":[94],"on":[95],"local":[96],"sensory":[97],"feedback.":[98],"In":[99],"simulations,":[100],"verified":[102],"our":[104,121],"can":[106],"reproduce":[107],"the":[108,128],"arthropods":[113],"various":[115],"numbers.":[117],"We":[118],"expect":[119],"will":[123],"provide":[124],"new":[125],"insights":[126],"into":[127],"underlying":[131]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2026-01-09T00:00:00"}