April 2016
Intermediate to advanced
552 pages
17h 2m
English
Content preview from Bio-Inspired Computing and Networking
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Bio-Inspired Locomotion Control of the Hexapod Robot Gregor III
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79
4.5 Locomotion Control
Bio-inspired solutions for locomotion control of legged robots are more and more
proposed and successfully applied.
25
Two different biological paradigms are widely
adopted: the CPG and the Walknet.
The CPG is a very robust mechanism that generates locomotion patterns by
using oscillators controlled in a centralized way (i.e., top-down approach). On
the other hand, the decentralized scheme lets the locomotion gaits emerge from
the processing of sensorial stimuli coming from the tactile sensors distributed
on the robotic structure (i.e., a bottom-up approach). The two paradigms have
solid biological evidence and different implementations have been proposed.
21,26,27 ...
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