Self‐Organized Stick Insect‐Like Locomotion under Decentralized Adaptive Neural Control: From Biological Investigation to Robot Simulation

Living animals and legged robots share similar challenges for movement control. In particular, the investigation of neural control mechanisms self-organized locomotion insects hexapod can be informative other fields. The Annam stick insect Medauroidea extradentata is used as a template to develop biorobotic model infer walking self-organization with strongly heterogeneous leg lengths. Body dimensions data on dynamics actual are development mechanism, generating gait patterns that correspond real observations. combination both investigations not only proposes solutions distributed but also enables insights into equipment biological template. Decentralized central pattern generation utilized phase modulation based foot contact feedback generate adaptive periodic base radial basis function premotor network in each target trajectories legs during complex intralimb coordination interlimb Furthermore, study objects, robot lengths constructed preliminary validate findings from simulations