{"data":{"id":"10.6084/m9.figshare.5640280.v1","type":"dois","attributes":{"doi":"10.6084/m9.figshare.5640280.v1","prefix":"10.6084","suffix":"m9.figshare.5640280.v1","identifiers":[],"alternateIdentifiers":[],"creators":[{"name":"Kano, Takeshi","nameType":"Personal","givenName":"Takeshi","familyName":"Kano","affiliation":[],"nameIdentifiers":[]},{"name":"Eiki Sato","affiliation":[],"nameIdentifiers":[]},{"name":"Ono, Tatsuya","nameType":"Personal","givenName":"Tatsuya","familyName":"Ono","affiliation":[],"nameIdentifiers":[]},{"name":"Aonuma, Hitoshi","nameType":"Personal","givenName":"Hitoshi","familyName":"Aonuma","affiliation":[],"nameIdentifiers":[]},{"name":"Matsuzaka, Yoshiya","nameType":"Personal","givenName":"Yoshiya","familyName":"Matsuzaka","affiliation":[],"nameIdentifiers":[]},{"name":"Ishiguro, Akio","nameType":"Personal","givenName":"Akio","familyName":"Ishiguro","affiliation":[],"nameIdentifiers":[]}],"titles":[{"title":"Copy of supplementary material.xlsx from A brittle star-like robot capable of immediately adapting to unexpected physical damage"}],"publisher":"The Royal Society","container":{},"publicationYear":2017,"subjects":[{"subject":"90301 Biomaterials","subjectScheme":"FOR"},{"subject":"FOS: Medical engineering","schemeUri":"http://www.oecd.org/science/inno/38235147.pdf","subjectScheme":"Fields of Science and Technology (FOS)"},{"subject":"FOS: Medical engineering","subjectScheme":"Fields of Science and Technology (FOS)"},{"subject":"90602 Control Systems, Robotics and Automation","subjectScheme":"FOR"},{"subject":"FOS: Electrical engineering, electronic engineering, information engineering","schemeUri":"http://www.oecd.org/science/inno/38235147.pdf","subjectScheme":"Fields of Science and Technology (FOS)"},{"subject":"FOS: Electrical engineering, electronic engineering, information engineering","subjectScheme":"Fields of Science and Technology (FOS)"},{"subject":"19999 Mathematical Sciences not elsewhere classified","subjectScheme":"FOR"},{"subject":"FOS: Mathematics","schemeUri":"http://www.oecd.org/science/inno/38235147.pdf","subjectScheme":"Fields of Science and Technology (FOS)"},{"subject":"FOS: Mathematics","subjectScheme":"Fields of Science and Technology (FOS)"},{"subject":"30402 Biomolecular Modelling and Design","subjectScheme":"FOR"},{"subject":"FOS: Chemical sciences","schemeUri":"http://www.oecd.org/science/inno/38235147.pdf","subjectScheme":"Fields of Science and Technology (FOS)"},{"subject":"FOS: Chemical sciences","subjectScheme":"Fields of Science and Technology (FOS)"}],"contributors":[],"dates":[{"date":"2017-11-28","dateType":"Created"},{"date":"2017-12-13","dateType":"Updated"},{"date":"2017","dateType":"Issued"}],"language":null,"types":{"ris":"DATA","bibtex":"misc","citeproc":"dataset","schemaOrg":"Dataset","resourceType":"Dataset","resourceTypeGeneral":"Dataset"},"relatedIdentifiers":[{"relationType":"IsSupplementTo","relatedIdentifier":"10.1098/rsos.171200","relatedIdentifierType":"DOI"},{"relationType":"IsIdenticalTo","relatedIdentifier":"10.6084/m9.figshare.5640280","relatedIdentifierType":"DOI"}],"relatedItems":[],"sizes":["63127 Bytes"],"formats":[],"version":null,"rightsList":[{"rights":"Creative Commons Attribution 4.0 International","rightsUri":"https://creativecommons.org/licenses/by/4.0/legalcode","schemeUri":"https://spdx.org/licenses/","rightsIdentifier":"cc-by-4.0","rightsIdentifierScheme":"SPDX"}],"descriptions":[{"description":"A major challenge in robotic design is enabling robots to immediately adapt to unexpected physical damage. However, conventional robots require considerable time (more than several tens of seconds) for adaptation because the process entails high computational costs. To overcome this problem, we focus on a brittle star—a primitive creature with expendable body parts. Brittle stars, most of which have five flexible arms, occasionally lose some of them and promptly coordinate the remaining arms to escape from predators. We adopted a synthetic approach to elucidate the essential mechanism underlying this resilient locomotion. Specifically, based on behavioural experiments involving brittle stars whose arms were amputated in various ways, we inferred the decentralized control mechanism that self-coordinates the arm motions by constructing a simple mathematical model. We implemented this mechanism in a brittle star-like robot and demonstrated that it adapts to unexpected physical damage within a few seconds by automatically coordinating its undamaged arms similar to brittle stars. Through the above-mentioned process, we found that physical interaction between arms plays an essential role for the resilient inter-arm coordination of brittle stars. This finding will help develop resilient robots that can work in inhospitable environments. Further, it provides insights into the essential mechanism of resilient coordinated motions characteristic of animal locomotion.","descriptionType":"Abstract"}],"geoLocations":[],"fundingReferences":[],"xml":"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