{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,30]],"date-time":"2026-03-30T21:24:14Z","timestamp":1774905854965,"version":"3.50.1"},"reference-count":56,"publisher":"Springer Science and Business Media LLC","issue":"5","license":[{"start":{"date-parts":[[2012,12,19]],"date-time":"2012-12-19T00:00:00Z","timestamp":1355875200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Biol Cybern"],"published-print":{"date-parts":[[2013,10]]},"DOI":"10.1007\/s00422-012-0540-4","type":"journal-article","created":{"date-parts":[[2012,12,18]],"date-time":"2012-12-18T12:55:19Z","timestamp":1355835319000},"page":"529-544","source":"Crossref","is-referenced-by-count":54,"title":["Where are we in understanding salamander locomotion: biological and robotic perspectives on kinematics"],"prefix":"10.1007","volume":"107","author":[{"given":"Konstantinos","family":"Karakasiliotis","sequence":"first","affiliation":[]},{"given":"Nadja","family":"Schilling","sequence":"additional","affiliation":[]},{"given":"Jean-Marie","family":"Cabelguen","sequence":"additional","affiliation":[]},{"given":"Auke Jan","family":"Ijspeert","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2012,12,19]]},"reference":[{"key":"540_CR1","doi-asserted-by":"crossref","first-page":"147","DOI":"10.1002\/jmor.1052110204","volume":"211","author":"MA Ashley-Ross","year":"1992","unstructured":"Ashley-Ross MA (1992) The comparative myology of the thigh and crus in the salamanders Ambystoma tigrinum and Dicamptodon tenebrosus. J Morphol 211:147\u2013163","journal-title":"J Morphol"},{"key":"540_CR2","doi-asserted-by":"crossref","first-page":"255","DOI":"10.1242\/jeb.193.1.255","volume":"193","author":"MA Ashley-Ross","year":"1994","unstructured":"Ashley-Ross MA (1994a) Hind limb kinematics during terrestrial locomotion in a salamander (Dicamptodon tenebrosus). J Exp Biol 193:255\u2013283","journal-title":"J Exp Biol"},{"key":"540_CR3","doi-asserted-by":"crossref","first-page":"285","DOI":"10.1242\/jeb.193.1.285","volume":"193","author":"MA Ashley-Ross","year":"1994","unstructured":"Ashley-Ross MA (1994b) Metamorphic and speed effects on hind limb kinematics during terrestrial locomotion in the salamander Dicamptodon tenebrosus. J Exp Biol 193:285\u2013305","journal-title":"J Exp Biol"},{"key":"540_CR4","first-page":"273","volume":"177","author":"MA Ashley-Ross","year":"1995","unstructured":"Ashley-Ross MA (1995) Patterns of hind limb motor output during walking in the salamander Dicamptodon tenebrosus, with comparisons to other tetrapods. J Comp Physiol A 177:273\u2013285","journal-title":"J Comp Physiol A"},{"issue":"3","key":"540_CR5","doi-asserted-by":"crossref","first-page":"461","DOI":"10.1242\/jeb.00769","volume":"207","author":"MA Ashley-Ross","year":"2004","unstructured":"Ashley-Ross MA, Bechtel BF (2004) Kinematics of the transition between aquatic and terrestrial locomotion in the newt Taricha torosa. J Exp Biol 207(3):461\u2013474","journal-title":"J Exp Biol"},{"issue":"6","key":"540_CR6","doi-asserted-by":"crossref","first-page":"3047","DOI":"10.1152\/jn.1997.78.6.3047","volume":"78","author":"MA Ashley-Ross","year":"1997","unstructured":"Ashley-Ross MA, Lauder GV (1997) Motor patterns and kinematics during backward walking in the pacific giant salamander: evidence for novel motor output. J Neurophysiol 78(6):3047\u20133060","journal-title":"J Neurophysiol"},{"key":"540_CR7","doi-asserted-by":"crossref","first-page":"240","DOI":"10.1002\/jez.522","volume":"311","author":"MA Ashley-Ross","year":"2009","unstructured":"Ashley-Ross MA, Lundin R, Johnson KL (2009) Kinematics of level terrestrial and underwater walking in the california newt, Taricha torosa. J Exp Zool A 311:240\u2013257","journal-title":"J Exp Zool A"},{"issue":"2","key":"540_CR8","doi-asserted-by":"crossref","first-page":"111","DOI":"10.1016\/j.zool.2004.03.002","volume":"107","author":"E Azizi","year":"2004","unstructured":"Azizi E, Horton JM (2004) Patterns of axial and appendicular movements during aquatic walking in the salamander Siren lacertina. Zoology 107(2):111\u2013120","journal-title":"Zoology"},{"key":"540_CR9","doi-asserted-by":"crossref","first-page":"177","DOI":"10.1242\/jeb.23.2.177","volume":"23","author":"OR Barclay","year":"1946","unstructured":"Barclay OR (1946) The mechanics of amphibian locomotion. J Exp Biol 23:177\u2013203","journal-title":"J Exp Biol"},{"issue":"6","key":"540_CR10","first-page":"R1200","volume":"256","author":"AF Bennett","year":"1989","unstructured":"Bennett AF, Garland T, Else PL (1989) Individual correlation of morphology, muscle mechanics, and locomotion in a salamander. Am J Physiol 256(6):R1200\u2013R1208","journal-title":"Am J Physiol"},{"key":"540_CR11","doi-asserted-by":"crossref","first-page":"1979","DOI":"10.1242\/jeb.204.11.1979","volume":"204","author":"W Bennett","year":"2001","unstructured":"Bennett W, Simons R, Brainerd E (2001) Twisting and bending: the functional role of salamander lateral hypaxial musculature during locomotion. J Exp Biol 204:1979\u20131989","journal-title":"J Exp Biol"},{"issue":"5584","key":"540_CR12","doi-asserted-by":"crossref","first-page":"352","DOI":"10.1038\/264352a0","volume":"264","author":"AR Blight","year":"1976","unstructured":"Blight AR (1976) Undulatory swimming with and without waves of contraction. Nature 264(5584):352\u2013354","journal-title":"Nature"},{"key":"540_CR13","doi-asserted-by":"crossref","first-page":"149","DOI":"10.1016\/B978-0-444-53613-6.00010-1","volume":"187","author":"JM Cabelguen","year":"2010","unstructured":"Cabelguen JM, Ijspeert AJ, Lamarque S, Ryczko D (2010) Axialdynamics during locomotion in vertebrates: lesson from the salamander. Prog Brain Res 187:149\u2013162","journal-title":"Prog Brain Res"},{"key":"540_CR14","doi-asserted-by":"crossref","first-page":"75","DOI":"10.1242\/jeb.180.1.75","volume":"180","author":"DR Carrier","year":"1993","unstructured":"Carrier DR (1993) Action of the hypaxial muscles during walking and swimming in the salamander Dicamptodon ensatus. J Exp Biol 180:75\u201383","journal-title":"J Exp Biol"},{"key":"540_CR15","volume-title":"Vertebrate paleontology and evolution","author":"RL Carroll","year":"1988","unstructured":"Carroll RL (1988) Vertebrate paleontology and evolution. W. H. Freeman & Company, New York"},{"key":"540_CR16","doi-asserted-by":"crossref","unstructured":"Chevallier S, Ijspeert AJ, Ryczko D, Nagy F, Cabelguen JM (2008) Organisation of the spinal central pattern generators for locomotion in the salamander: biology and modelling. Brain Res Rev 57(1): 147\u2013161","DOI":"10.1016\/j.brainresrev.2007.07.006"},{"key":"540_CR17","doi-asserted-by":"crossref","first-page":"72","DOI":"10.1038\/nature00824","volume":"418","author":"JA Clack","year":"2002","unstructured":"Clack JA (2002a) An early tetrapod from \u201cromer\u2019s gap\u201d. Nature 418: 72\u201376","journal-title":"Nature"},{"key":"540_CR18","volume-title":"Gaining ground: the origin and evolution of tetrapods","author":"JA Clack","year":"2002","unstructured":"Clack JA (2002b) Gaining ground: the origin and evolution of tetrapods. Indiana University Press, Bloomington"},{"key":"540_CR19","doi-asserted-by":"crossref","first-page":"234","DOI":"10.1038\/352234a0","volume":"352","author":"MI Coates","year":"1991","unstructured":"Coates MI, Clack JA (1991) Fish-like gills and breathing in the earliest known tetrapod. Nature 352:234\u2013236","journal-title":"Nature"},{"key":"540_CR20","doi-asserted-by":"crossref","unstructured":"Crespi A, Karakasiliotis K, Ijspeert AJ (2013) Salamandra robotica II: an amphibious robot to study salamander-like swimming and walking gaits. Trans Robot. doi 10.1109\/TRO.2012.2234311","DOI":"10.1109\/TRO.2012.2234311"},{"key":"540_CR21","first-page":"245","volume":"C71","author":"S Daan","year":"1968","unstructured":"Daan S, Belterman T (1968) Lateral bending in locomotion of some lower tetrapods. Proc Ned Akad Wetten C71:245\u2013266","journal-title":"Proc Ned Akad Wetten"},{"issue":"13","key":"540_CR22","doi-asserted-by":"crossref","first-page":"1863","DOI":"10.1242\/jeb.200.13.1863","volume":"200","author":"K D\u2019Ao\u00fbt","year":"1997","unstructured":"D\u2019Ao\u00fbt K, Aerts P (1997) Kinematics and efficiency of steady swimming in adult axolotls (Ambystoma mexicanum). J Exp Biol 200(13):1863\u20131871","journal-title":"J Exp Biol"},{"issue":"1","key":"540_CR23","first-page":"305","volume":"129","author":"K D\u2019Ao\u00fbt","year":"1999","unstructured":"D\u2019Ao\u00fbt K, Aerts S (1999) The kinematics of voluntary steady swimming of hatchling and adult axolotls (Ambystoma mexicanum shaw, 1789). Belg J Zool 129(1):305\u2013316","journal-title":"Belg J Zool"},{"key":"540_CR24","doi-asserted-by":"crossref","unstructured":"Deban SM, Schilling N (2009) Activity of trunk muscles during aquatic and terrestrial locomotion in Ambystoma maculatum. J Exp Biol 212(18):2949\u20132959. http:\/\/zotero:\/\/attachment\/457\/","DOI":"10.1242\/jeb.032961"},{"key":"540_CR25","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 JM (1997) Epaxial and limb muscle activity during swimming and terrestrial stepping in the adult newt, Pleurodeles waltl. J Neurophysiol 78:638\u2013650","journal-title":"J Neurophysiol"},{"key":"540_CR26","volume-title":"Major patterns in vertebrate evolution","author":"JL Edwards","year":"1977","unstructured":"Edwards JL (1977) The evolution of terrestrial locomotion. In: Hecht MK, Goody PC, Hecht BM (eds) Major patterns in vertebrate evolution. Plenum, New York"},{"key":"540_CR27","doi-asserted-by":"crossref","first-page":"235","DOI":"10.1093\/icb\/29.1.235","volume":"29","author":"JL Edwards","year":"1989","unstructured":"Edwards JL (1989) Two perspectives on the evolution of the tetrapod limb. Am Zool 29:235\u2013254","journal-title":"Am Zool"},{"key":"540_CR28","doi-asserted-by":"crossref","first-page":"257","DOI":"10.1002\/ar.1090950302","volume":"95","author":"FG Evans","year":"1946","unstructured":"Evans FG (1946) The anatomy and function of the foreleg in salamander locomotion. Anat Rec 95:257\u2013281","journal-title":"Anat Rec"},{"key":"540_CR29","volume-title":"The anatomy of the salamander","author":"ET Francis","year":"1934","unstructured":"Francis ET (1934) The anatomy of the salamander. The Clarendon Press, Oxford"},{"key":"540_CR30","doi-asserted-by":"crossref","first-page":"107","DOI":"10.1242\/jeb.162.1.107","volume":"62","author":"LM Frolich","year":"1992","unstructured":"Frolich LM, Biewener AA (1992) Kinematic and electromyographic analysis of the functional role of the body axis during terrestrial and aquatic locomotion in the salamander Ambystoma tigrinum. J Exp Biol 62:107\u2013130","journal-title":"J Exp Biol"},{"key":"540_CR31","volume-title":"Environmental physiology of the amphibians","author":"C Gans","year":"1992","unstructured":"Gans C, De Gueldre G (1992) Striated muscle: physiology and functional morphology. In: Feder ME, Burggren WW (eds) Environmental physiology of the amphibians. University of Chicago Press, Chicago"},{"key":"540_CR32","doi-asserted-by":"crossref","first-page":"574","DOI":"10.1038\/35069051","volume":"410","author":"KQ Gao","year":"2001","unstructured":"Gao KQ, Shubin NH (2001) Late jurassic salamanders from northern china. Nature 410:574\u2013577","journal-title":"Nature"},{"issue":"2","key":"540_CR33","doi-asserted-by":"crossref","first-page":"88","DOI":"10.1242\/jeb.20.2.88","volume":"20","author":"J Gray","year":"1944","unstructured":"Gray J (1944) Studies in the mechanics of the tetrapod skeleton. J Exp Biol 20(2):88\u2013116","journal-title":"J Exp Biol"},{"key":"540_CR34","volume-title":"Animal locomotion","author":"J Gray","year":"1968","unstructured":"Gray J (1968) Animal locomotion. W. W. Norton & Company, New York"},{"key":"540_CR35","first-page":"447","volume":"38","author":"WK Gregory","year":"1918","unstructured":"Gregory WK, Camp CL (1918) Studies in comparative myology and osteology. Bull Am Mus Nat Hist 38:447\u2013563","journal-title":"Bull Am Mus Nat Hist"},{"key":"540_CR36","doi-asserted-by":"crossref","first-page":"112","DOI":"10.3389\/fnbot.2010.00112","volume":"4","author":"N Harischandra","year":"2010","unstructured":"Harischandra N, Cabelguen JM, Ekeberg O (2010) A 3d musculo-mechanical model of the salamander for the study of different gaits and modes of locomotion. Front Neurorobot 4:112","journal-title":"Front Neurorobot"},{"key":"540_CR37","first-page":"9","volume":"6","author":"M Hildebrand","year":"1966","unstructured":"Hildebrand M (1966) Analysis of the symmetrical gaits of tetrapods. Fol Biotheor 6:9\u201322","journal-title":"Fol Biotheor"},{"key":"540_CR38","doi-asserted-by":"crossref","first-page":"203","DOI":"10.1007\/978-1-4757-0964-3_9","volume-title":"Neural control of locomotion","author":"M Hildebrand","year":"1976","unstructured":"Hildebrand M (1976) Analysis of the symmetrical gaits of tetrapods. In: Herman RM, Grillner RMS, Stein PSG, Stuart DG (eds) Neural control of locomotion. Plenum, New York, pp 203\u2013236"},{"key":"540_CR39","doi-asserted-by":"crossref","first-page":"28","DOI":"10.4159\/harvard.9780674184404","volume-title":"Functional vertebrate morphology","author":"M Hildebrand","year":"1985","unstructured":"Hildebrand M (1985) Walking and running. In: Hildebrand M, Bramble DM, Liem KF, Wake DB (eds) Functional vertebrate morphology. Belknap Press, Cambridge, pp 28\u201357"},{"issue":"11","key":"540_CR40","doi-asserted-by":"crossref","first-page":"2756","DOI":"10.1139\/z89-391","volume":"67","author":"KV Hoff","year":"1989","unstructured":"Hoff KV, Huq N, King VA, Wassersug RJ (1989) The kinematics of larval salamander swimming (ambystomatidae: Caudata). Can J Zool 67(11):2756\u20132761","journal-title":"Can J Zool"},{"key":"540_CR41","volume-title":"Speed in animals","author":"AB Howell","year":"1944","unstructured":"Howell AB (1944) Speed in animals. Hafner Publishing Company, New York"},{"issue":"4","key":"540_CR42","doi-asserted-by":"crossref","first-page":"642","DOI":"10.1016\/j.neunet.2008.03.014","volume":"21","author":"AJ Ijspeert","year":"2008","unstructured":"Ijspeert AJ (2008) Central pattern generators for locomotion control in animals and robots: a review. Neural Netw 21(4):642\u2013653","journal-title":"Neural Netw"},{"key":"540_CR43","doi-asserted-by":"crossref","unstructured":"Ijspeert A, Crespi A, Ryczko D, Cabelguen JM (2007) From swimming to walking with a salamander robot driven by a spinal cord model. Science 315(5817):1416\u20131420","DOI":"10.1126\/science.1138353"},{"key":"540_CR44","doi-asserted-by":"crossref","unstructured":"Karakasiliotis K, Ijspeert AJ (2009) Analysis of the terrestrial locomotion of a salamander robot. In: Intelligent robots and systems, pp 5015\u20135020","DOI":"10.1109\/IROS.2009.5354220"},{"key":"540_CR45","unstructured":"Lamarque S, Ryczko D, Didier H, Cabelguen JM (2009) Dynamics of the axial locomotor network in intact, freely moving salamanders. In: 31st International symposium GRSNC: breathe, walk and chew\u2014the neural challenge (Abstract 22)"},{"key":"540_CR46","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1038\/nature08623","volume":"463","author":"G Niedzwiedzki","year":"2010","unstructured":"Niedzwiedzki G, Szrek P, Narkiewicz K, Narkiewicz M, Ahlberg PE (2010) Tetrapod trackways from the early middle devonian period of poland. Nature 463:43\u201348","journal-title":"Nature"},{"key":"540_CR47","doi-asserted-by":"crossref","first-page":"191","DOI":"10.1159\/000121518","volume":"22","author":"SE Peters","year":"2010","unstructured":"Peters SE, Goslow GE (2010) From salamanders to mammals: continuity in musculoskeletal function during locomotion. Brain Behav Evol 22:191\u2013197","journal-title":"Brain Behav Evol"},{"key":"540_CR48","first-page":"239","volume":"48","author":"SC Rewcastle","year":"1981","unstructured":"Rewcastle SC (1981) Stance ang gait in tetrapods: an evolutionary scenario. Symp Zool Soc Lond 48:239\u2013267","journal-title":"Symp Zool Soc Lond"},{"key":"540_CR49","first-page":"517","volume":"46","author":"AS Romer","year":"1922","unstructured":"Romer AS (1922) The locomotor apparatus of certain primitive and mammal-like reptiles. Bull Am Mus Nat Hist 46:517\u2013606","journal-title":"Bull Am Mus Nat Hist"},{"key":"540_CR50","first-page":"25","volume":"4","author":"AS Romer","year":"1931","unstructured":"Romer AS, Byrne F (1931) The pes of Diadectes: notes on the primitive tetrapod limb. Palaeobiologica 4:25\u201348","journal-title":"Palaeobiologica"},{"key":"540_CR51","first-page":"223","volume":"C67","author":"PJ Roos","year":"1964","unstructured":"Roos PJ (1964) Lateral bending in newt locomotion. Proc Ned Akad Wetten C67:223\u2013232","journal-title":"Proc Ned Akad Wetten"},{"key":"540_CR52","first-page":"395","volume":"78","author":"B Schaeffer","year":"1941","unstructured":"Schaeffer B (1941) The morphological and functional evolution of the tarsus in amphibians and reptiles. Bull Am Mus Nat Hist 78:395\u2013472","journal-title":"Bull Am Mus Nat Hist"},{"key":"540_CR53","doi-asserted-by":"crossref","first-page":"2603","DOI":"10.1242\/jeb.048736","volume":"214","author":"KM Sheffield","year":"2011","unstructured":"Sheffield KM, Blob RW (2011) Loading mechanics of the femur in tiger salamanders (Ambystoma tigrinum) during terrestrial locomotion. J Exp Biol 214:2603\u20132615","journal-title":"J Exp Biol"},{"issue":"2","key":"540_CR54","doi-asserted-by":"crossref","first-page":"153","DOI":"10.1002\/(SICI)1097-4687(199908)241:2<153::AID-JMOR5>3.0.CO;2-E","volume":"241","author":"RS Simons","year":"1999","unstructured":"Simons RS, Brainerd EL (1999) Morphological variation of hypaxial musculature in salamanders (lissamphibia: Caudata). J Morphol 241(2):153\u2013164","journal-title":"J Morphol"},{"issue":"1","key":"540_CR55","doi-asserted-by":"crossref","first-page":"53","DOI":"10.1007\/BF00235451","volume":"9","author":"G Sz\u00e9kely","year":"1969","unstructured":"Sz\u00e9kely G, Cz\u00e9h G, V\u00f6r\u00f6s G (1969) The activity pattern of limb muscles in freely moving normal and deafferented newts. Exp Brain Res 9(1):53\u201362","journal-title":"Exp Brain Res"},{"issue":"3","key":"540_CR56","doi-asserted-by":"crossref","first-page":"257","DOI":"10.1002\/jmor.1051370302","volume":"137","author":"RD Worthington","year":"1972","unstructured":"Worthington RD, Wake DB (1972) Patterns of regional variation in the vertebral column of terrestrial salamanders. J Morphol 137(3): 257\u2013277","journal-title":"J Morphol"}],"container-title":["Biological Cybernetics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00422-012-0540-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s00422-012-0540-4\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00422-012-0540-4","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,2,3]],"date-time":"2022-02-03T16:33:06Z","timestamp":1643905986000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s00422-012-0540-4"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,12,19]]},"references-count":56,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2013,10]]}},"alternative-id":["540"],"URL":"https:\/\/doi.org\/10.1007\/s00422-012-0540-4","relation":{},"ISSN":["0340-1200","1432-0770"],"issn-type":[{"value":"0340-1200","type":"print"},{"value":"1432-0770","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,12,19]]}}}