A cellular nonlinear approach to decentralized locomotion control of the stick insect

Abstract

In this paper a new approach to decentralized locomotion control of bio-inspired hexapod robots is presented. This approach is inspired by the model of decentralized locomotion control in the stick insect introduced by Cruse, where local influences, based on the leg status, revealed by contact sensors, coordinate the leg controllers. Second order nonlinear systems are used to realize the neuron-like dynamics of the leg controllers. The suitability of the approach has been shown by using cellular nonlinear networks to implement the leg controllers.