A CPG-inspired controller for a hexapod robot with adaptive walking

Abstract

This paper proposes a CPG-based control strategy for hexapod walking robot. In animal, CPG (Central Pattern Generator) is composed of a group of neuron. CPG is responsible for generating rhythmic signal to control rhythmic locomotion without feedback. The Matsuoka's neural oscillator is used to construct a CPG-inspired controller. The Matsuoka's neural oscillator has widely been used for various kinds of robots to generate rhythmic movements. Neural oscillators are used for generating different gaits by setting different topologies and adapting the uneven terrain through gathering attitude of the robot's body as a feedback.