A Novel Double-Layered Central Pattern Generator-Based Motion Controller for the Hexapod Robot

To implement the various movement control of hexapod robot, a motion controller based on double-layered central pattern generator (CPG) is proposed in this paper. The novel CPG network composed rhythm layer and layer. neurons are constructed Kuramoto nonlinear oscillator. parameters including frequency, coupling strength, phase difference matrix for four typical gaits planned. mapping relationship between signals joint trajectories robot designed. co-simulations experiments have been conducted to verify feasibility CPG-based controller. actual average velocities wave gait, tetrapod tripod self-turning gait 10.8 mm/s, 25.5 37.8 mm/s 26°/s, respectively. results that with can perform stable movements.