Adaptive Locomotion Generation for a Bionic Hexapod Robot

Abstract

In this paper, we propose a biomimetic approach of adaptive locomotion generation for a hexapod robot. Inspired by biology, a Central Pattern Generator (CPG) model is employed to generate tripod locomotion in the six-legged robot and the parameters can be tuned adaptively. Both simulation studies and experiments verified that the proposed control scheme can help the hexapod robot improve maneuverability and environmental adaptability with different parameters in various terrains.