Versatile Locomotion Control of a Hexapod Robot Using a Hierarchical Network of Nonlinear Oscillator Circuits
A novel hierarchical network based on coupled nonlinear oscillators is proposed for motor pattern generation in hexapod robots. Its architecture consists of a central pattern generator (CPG), producing the global leg coordination pattern, coupled with six local pattern generators, each devoted to ge...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2018-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8270661/ |