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Several bio-inspired robotics studies have resulted in the development of legged robots that utilize a flexible spine, similar to cheetahs. However, the control principle of body\u2013limb coordination has not been established to date. From the perspective of a decentralized control scheme, a minimal body\u2013limb coordination mechanism is proposed in this study, in which body parts aid each other via a sensory feedback mechanism. The two-dimensional simulation and hardware experiments reveal that bilateral sensory feedback between limbs and body is essential for the robot to adaptively generate a body\u2013limb coordination pattern and achieve faster locomotion speed than that by only limbs in efficient manner.<\/jats:p>","DOI":"10.1177\/1059712319865180","type":"journal-article","created":{"date-parts":[[2019,8,6]],"date-time":"2019-08-06T04:48:00Z","timestamp":1565066880000},"page":"151-164","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":24,"title":["Decentralized control mechanism for body\u2013limb coordination in quadruped running"],"prefix":"10.1177","volume":"28","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4303-7594","authenticated-orcid":false,"given":"Akira","family":"Fukuhara","sequence":"first","affiliation":[{"name":"Research Institute of Electrical Communication, Tohoku University, Sendai, 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