The Control of a Multi-legged Robot Based on Hopf Oscillator

This paper presents the biological control for a radially free distributed hexapod robot. The CPG(central pattern generators) network consists of six CPG units based on Hopf neural oscillator that used to generate rhythmic oscillatory signals for the end trajectories of legs. The ring-type network topology of CPG network that consists of six CPG units is established. By computing the inverse kinematics, the end trajectory of one leg can be conversed to the joint trajectories for controlling the robot movement. The simulation experiment proves the correctness and validity of the proposed model, and successfully makes the hexapod robot walk steadily.