Hexapod Locomotion: a Nonlinear Dynamical Systems Approach

The ability of walking in a wide variety of terrains is one of the most important features of hexapod insects. In this paper we describe a bio-inspired controller able to generate locomotion and switch between different type of gaits for an hexapod robot. Motor patterns are generated by coupled Central Pattern Generators formulated as nonlinear oscillators. These patterns are modulated by a drive signal, proportionally changing the oscillators frequency, amplitude and the coupling parameters among the oscillators. Locomotion initiation, stopping and smooth gait switching is achieved by changing the drive signal. We also demonstrate a posture controller for hexapod robots using the dynamical systems approach. Results from simulation using a model of the Chiara hexapod robot demonstrate the capability of the controller both to locomotion generation and smooth gait transition. The postural controller is also tested in different situations in which the hexapod robot is expected to maintain balance. The presented results prove its reliability.