{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,28]],"date-time":"2025-10-28T00:27:25Z","timestamp":1761611245733,"version":"3.37.0"},"publisher-location":"London","reference-count":43,"publisher":"Springer London","isbn-type":[{"type":"print","value":"9781848825291"},{"type":"electronic","value":"9781848825307"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2009]]},"DOI":"10.1007\/978-1-84882-530-7_3","type":"book-chapter","created":{"date-parts":[[2009,5,19]],"date-time":"2009-05-19T13:34:39Z","timestamp":1242740079000},"page":"35-64","source":"Crossref","is-referenced-by-count":11,"title":["Salamandra Robotica: A Biologically Inspired Amphibious Robot that Swims and Walks"],"prefix":"10.1007","author":[{"given":"Alessandro","family":"Crespi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Auke Jan","family":"Ijspeert","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","reference":[{"key":"3_CR1_3","unstructured":"Ayers, J., Crisman, J.: The lobster as a model for an omnidirectional robotic ambulation control architecture. In: R. Beer, R. Ritzmann, T. McKenna (eds.) Biological neural networks in invertebrate neuroethology and robotics, pp. 287\u2013316. Academic Press (1993)"},{"key":"3_CR2_3","unstructured":"Breithaupt, R., Dahnke, J., Zahedi, K., Hertzberg, J., Pasemann, F.: Robo-salamander \u2014 an approach for the benefit of both robotics and biology. In: Proceedings of the 5th International Conference on Climbing and Walking Robots (CLAWAR 2002) (2002)"},{"issue":"6","key":"3_CR3_3","doi-asserted-by":"crossref","first-page":"2434","DOI":"10.1523\/JNEUROSCI.23-06-02434.2003","volume":"23","author":"J. Cabelguen","year":"2003","unstructured":"Cabelguen, J., Bourcier-Lucas, C., Dubuc, R.: Bimodal locomotion elicited by electrical stimulation of the midbrain in the salamander Notophthalmus viridesecens. The Journal of Neu-roscience 23(6), 2434\u20132439 (2003)","journal-title":"The Journal of Neu-roscience"},{"key":"3_CR4_3","unstructured":"Chirikjian, G., Burdick, J.: Design, implementation, and experiments with a thirty-degree-of-freedom \u2018hyper-redundant\u2019 robot. In: ISRAM 1992 (1992)"},{"key":"3_CR5_3","doi-asserted-by":"publisher","first-page":"713","DOI":"10.1016\/S0957-4158(01)00022-8","volume":"12","author":"H. Choi","year":"2002","unstructured":"Choi, H., Ryew, S.: Robotic system with active steering capability for internal inspection of urban gas pipelines. Mechatronics 12, 713\u2013736 (2002)","journal-title":"Mechatronics"},{"key":"3_CR6_3","unstructured":"Cohen, A.: Evolution of the vertebrate central pattern generator for locomotion. In: A.H. Cohen, S. Rossignol, S. Grillner (eds.) Neural Control of Rhythmic Movements in Vertebrates. Jon Wiley & Sons (1988)"},{"key":"3_CR7_3","unstructured":"Conradt, J., Varshavskaya, P.: Distributed central pattern generator control for a serpentine robot. In: ICANN 2003 (2003)"},{"key":"3_CR8_3","unstructured":"Crespi, A., Badertscher, A., Guignard, A., Ijspeert, A.: An amphibious robot capable of snake and lamprey-like locomotion. In: Proceedings of the 35th international symposium on robotics (ISR 2004) (2004)"},{"issue":"4","key":"3_CR9_3","doi-asserted-by":"publisher","first-page":"163","DOI":"10.1016\/j.robot.2004.09.015","volume":"50","author":"A. Crespi","year":"2005","unstructured":"Crespi, A., Badertscher, A., Guignard, A., Ijspeert, A.: AmphiBot I: An amphibious snake-like robot. Robotics and Autonomous Systems 50(4), 163\u2013175 (2005)","journal-title":"Robotics and Autonomous Systems"},{"key":"3_CR10_3","doi-asserted-by":"crossref","unstructured":"Crespi, A., Badertscher, A., Guignard, A., Ijspeert, A.: Swimming and crawling with an amphibious snake robot. In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA 2005), pp. 3035\u20133039 (2005)","DOI":"10.1109\/ROBOT.2005.1570574"},{"key":"3_CR11_3","unstructured":"Crespi, A., Ijspeert, A.: AmphiBot II: An amphibious snake robot that crawls and swims using a central pattern generator. In: Proceedings of the 9th International Conference on Climbing and Walking Robots (CLAWAR 2006) (2006)"},{"key":"3_CR12_3","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1007\/s10514-007-9071-6","volume":"25","author":"A. Crespi","year":"2008","unstructured":"Crespi, A., Lachat, D., Pasquier, A., Ijspeert, A.: Controlling swimming and crawling in a fish robot using a central pattern generator. Autonomous Robots 25, 3\u201313 (2008)","journal-title":"Autonomous Robots"},{"key":"3_CR13_3","doi-asserted-by":"crossref","first-page":"638","DOI":"10.1152\/jn.1997.78.2.638","volume":"78","author":"I. Delvolv\u00e9","year":"1997","unstructured":"Delvolv\u00e9, I., Bem, T., Cabelguen, J.M.: Epaxial and limb muscle activity during swimming and terrestrial stepping in the adult newt, Pleurodeles waltl. Journal of Neurophysiology 78, 638\u2013650 (1997)","journal-title":"Journal of Neurophysiology"},{"key":"3_CR14_3","volume-title":"Limbless locomotion: Learning to crawl with a snake robot","author":"K. Dowling","year":"1997","unstructured":"Dowling, K.: Limbless locomotion: Learning to crawl with a snake robot. Ph.D. thesis, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA (1997)"},{"key":"3_CR15_3","unstructured":"Fiala, M.: ARTag revision 1. A fiducial marker system using digital techniques. Tech. Rep. NRC 47419, National research council Canada, institute for information technology (2004)"},{"key":"3_CR16_3","doi-asserted-by":"crossref","first-page":"107","DOI":"10.1242\/jeb.162.1.107","volume":"62","author":"L. Frolich","year":"1992","unstructured":"Frolich, L., Biewener, A.: Kinematic and electromyographic analysis of the functional role of the body axis during terrestrial and aquatic locomotion in the salamander Ambystoma tigrinum. Journal of Experimental Biology 62, 107\u2013130 (1992)","journal-title":"Journal of Experimental Biology"},{"issue":"3\u20134","key":"3_CR17_3","doi-asserted-by":"publisher","first-page":"187","DOI":"10.1177\/0278364903022003004","volume":"22","author":"Y. Fukuoka","year":"2003","unstructured":"Fukuoka, Y., Kimura, H., Cohen, A.: Adaptive dynamic walking of a quadruped robot on irregular terrain based on biological concepts. The International Journal of Robotics Research 22(3\u20134), 187\u2013202 (2003)","journal-title":"The International Journal of Robotics Research"},{"key":"3_CR18_3","doi-asserted-by":"publisher","first-page":"574","DOI":"10.1038\/35069051","volume":"410","author":"K.Q. Gao","year":"2001","unstructured":"Gao, K.Q., Shubin, N.: Late jurassic salamanders from northern China. Nature 410, 574\u2013577 (2001)","journal-title":"Nature"},{"key":"3_CR19_3","unstructured":"Hiraoka, A., Kimura, H.: A development of a salamander robot \u2014 design of a coupled neuro-musculoskeletal system. In: Proceedings of the Annual Conference of the Robotics Society of Japan, Osaka (2002). (Paper in Japanese)"},{"key":"3_CR20_3","unstructured":"Hirose, S.: Biologically Inspired Robots (Snake-like Locomotors and Manipulators). Oxford University Press (1993)"},{"key":"3_CR21_3","doi-asserted-by":"crossref","unstructured":"Hirose, S., Fukushima, E.: Snakes and strings: New robotic components for rescue operations. In: B. Siciliano, D. Paolo (eds.) Experimental Robotics VIII: Proceedings of the 8th International Symposium ISER02, pp. 48\u201363. Springer-Verlag (2002)","DOI":"10.1109\/SICE.2002.1195418"},{"key":"3_CR22_3","doi-asserted-by":"publisher","first-page":"1416","DOI":"10.1126\/science.1138353","volume":"315","author":"A. Ijspeert","year":"2007","unstructured":"Ijspeert, A., Crespi, A., Ryczko, D., Cabelguen, J.M.: From swimming to walking with a salamander robot driven by a spinal cord model. Science 315, 1416\u20131420 (2007)","journal-title":"Science"},{"key":"3_CR23_3","doi-asserted-by":"crossref","unstructured":"Klaassen, B., Paap, K.: GMD-SNAKE2: A snake-like robot driven by wheels and a method for motion control. In: Proceedings of 1999 IEEE International Conference on Robotics and Automation (ICRA 1999), pp. 3014\u20133019. IEEE (1999)","DOI":"10.1109\/ROBOT.1999.774055"},{"key":"3_CR24_3","doi-asserted-by":"crossref","unstructured":"Lee, T., Ohm, T., Hayati, S.: A highly redundant robot system for inspection. In: Proceedings of the conference on intelligent robotics in the field, factory, service, and space (CIRFFSS '94), pp. 142\u2013149. Houston, Texas (1994)","DOI":"10.2514\/6.1994-1194"},{"key":"3_CR25_3","doi-asserted-by":"crossref","unstructured":"McIsaac, K., Ostrowski, J.: A geometric approach to anguilliform locomotion: Simulation and experiments with an underwater eel-robot. In: Proceedings of 1999 IEEE International Conference on Robotics and Automation (ICRA 1999), pp. 2843\u20132848. IEEE (1999)","DOI":"10.1109\/ROBOT.1999.774028"},{"key":"3_CR26_3","volume-title":"Neurotechnology for biomimetic robots, chap. Snake robots for search and rescue","author":"G. Miller","year":"2002","unstructured":"Miller, G.: Neurotechnology for biomimetic robots, chap. Snake robots for search and rescue. Bradford\/MIT Press, Cambridge London (2002)"},{"key":"3_CR27_3","doi-asserted-by":"crossref","unstructured":"Paap, K., Dehlwisch, M., Klaassen, B.: GMD-snake: a semi-autonomous snake-like robot. In: Distributed Autonomous Robotic Systems 2. Springer-Verlag (1996)","DOI":"10.1007\/978-4-431-66942-5_8"},{"key":"3_CR28_3","unstructured":"Quinn, R.D., Nelson, G., Bachmann, R., Kingsley, D., Offi, J., Ritzmann, R.: Insect designs for improved robot mobility. In: Proceedings of the 4th International Conference on Climbing and Walking Robots (CLAWAR 2001) (2001)"},{"key":"3_CR29_3","doi-asserted-by":"publisher","first-page":"137","DOI":"10.1159\/000114149","volume":"42","author":"G. Roth","year":"1993","unstructured":"Roth, G., Nishikawa, K., Naujoks-Manteuffel, C., Schmidt, A., Wake, D.B.: Paedomorphosis and simplification in the nervous system of salamanders. Brain, Behavior and Evolution 42, 137\u2013170 (1993)","journal-title":"Brain, Behavior and Evolution"},{"key":"3_CR30_3","doi-asserted-by":"publisher","first-page":"50","DOI":"10.1159\/000113321","volume":"50","author":"G. Roth","year":"1997","unstructured":"Roth, G., Nishikawa, K., Wake, D.B.: Genome size, secondary simplification, and the evolution of the brain in salamanders. Brain, Behavior and Evolution 50, 50\u201359 (1997)","journal-title":"Brain, Behavior and Evolution"},{"key":"3_CR31_3","doi-asserted-by":"publisher","first-page":"64","DOI":"10.1109\/37.980248","volume":"22","author":"M. Saito","year":"2002","unstructured":"Saito, M., Fukaya, M., Iwasaki, T.: Serpentine locomotion with robotic snakes. IEEE Control Systems Magazine 22, 64\u201381 (2002)","journal-title":"IEEE Control Systems Magazine"},{"issue":"7","key":"3_CR32_3","doi-asserted-by":"publisher","first-page":"616","DOI":"10.1177\/02783640122067570","volume":"20","author":"U. Saranli","year":"2001","unstructured":"Saranli, U., Buehler, M., Koditschek, D.: RHex \u2014 a simple and highly mobile hexapod robot. The International Journal of Robotics Research 20(7), 616\u2013631 (2001)","journal-title":"The International Journal of Robotics Research"},{"key":"3_CR33_3","doi-asserted-by":"crossref","unstructured":"Stefanini, C., Orlandi, G., Menciassi, A., Ravier, Y., La Spina, G., Grillner, S., Dario, P.: A mechanism for biomimetic actuation in lamprey-like robots. In: Proceedings of the First IEEE\/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2006), pp. 579\u2013584 (2006)","DOI":"10.1109\/BIOROB.2006.1639151"},{"key":"3_CR34_3","unstructured":"Takayama, T., Hirose, S.: Development of HELIX: a hermetic 3D active cord with novel spiral swimming motion. In: Proceedings of TITech COE\/Super Mechano-Systems Symposium 2001, pp. D-3 (2001)"},{"key":"3_CR35_3","doi-asserted-by":"crossref","unstructured":"Takayama, T., Hirose, S.: Amphibious 3D active cord mechanism \u201cHELIX\u201d with helical swimming motion. In: Proceedings of the 2002 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2002), pp. 775\u2013780. IEEE (2002)","DOI":"10.1109\/IRDS.2002.1041484"},{"key":"3_CR36_3","unstructured":"Umetani, Y., Hirose, S.: Biomechanical study of active cord mechanism with tactile sensors. In: Proceedings of the 6th international symposium on industrial robots, pp. c1-1\u2013c1-10. Nottingham (1976)"},{"key":"3_CR37_3","doi-asserted-by":"publisher","first-page":"545","DOI":"10.1006\/anbe.2000.1514","volume":"60","author":"B. Webb","year":"2000","unstructured":"Webb, B.: What does robotics offer animal behaviour? Animal Behaviour 60, 545\u2013558 (2000)","journal-title":"Animal Behaviour"},{"key":"3_CR38_3","doi-asserted-by":"crossref","first-page":"1033","DOI":"10.1017\/S0140525X01000127","volume":"24","author":"B. Webb","year":"2001","unstructured":"Webb, B.: Can robots make good models of biological behaviour? Behavioral and brain sciences 24, 1033\u20131050 (2001)","journal-title":"Behavioral and brain sciences"},{"key":"3_CR39_3","doi-asserted-by":"publisher","first-page":"359","DOI":"10.1038\/417359a","volume":"417","author":"B. Webb","year":"2002","unstructured":"Webb, B.: Robots in invertebrate neuroscience. Nature 417, 359\u2013363 (2002)","journal-title":"Nature"},{"issue":"3","key":"3_CR40_3","doi-asserted-by":"publisher","first-page":"137","DOI":"10.1177\/1059712303113001","volume":"11","author":"B. Webb","year":"2003","unstructured":"Webb, B., Reeve, R.: Reafferent or redundant: Integration of phonotaxis and optomotor behavior in crickets and robots. Adaptive Behavior 11(3), 137\u2013158 (2003)","journal-title":"Adaptive behavior"},{"key":"3_CR41_3","volume-title":"Neurotechnology for biomimetic robots, chap. A Lamprey-Based Undulatory Vehicle","author":"C. Wilbur","year":"2002","unstructured":"Wilbur, C., Vorus, W., Cao, Y., Currie, S.: Neurotechnology for biomimetic robots, chap. A Lamprey-Based Undulatory Vehicle. Bradford\/MIT Press, Cambridge London (2002)"},{"key":"3_CR42_3","unstructured":"Worst, R.: Robotic snakes. In: Third German Workshop on Artifical Life, pp. 113\u2013126. Verlag Harri Deutsch (1998)"},{"key":"3_CR43_3","unstructured":"Yamada, H., Chigisaki, S., Mori, M., Takita, K., Ogami, K., Hirose, S.: Development of amphibious snake-like robot ACM-R5. In: Proceedings of the 36th International Symposium on Robotics (2005)"}],"container-title":["Artificial Life Models in Hardware"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/978-1-84882-530-7_3.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,9]],"date-time":"2025-02-09T15:41:11Z","timestamp":1739115671000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/978-1-84882-530-7_3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009]]},"ISBN":["9781848825291","9781848825307"],"references-count":43,"URL":"https:\/\/doi.org\/10.1007\/978-1-84882-530-7_3","relation":{},"subject":[],"published":{"date-parts":[[2009]]}}}