Journal
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
Volume 34, Issue 4, Pages 1823-1837Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMCB.2004.828593
Keywords
bio-inspired robots; cellular neural networks; dynamical nonlinear systems; locomotion control; motor maps
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In this paper, dynamical systems made up of locally coupled nonlinear units are used to control the locomotion of bioinspired robots and, in particular, a simulation of an insect-like hexapod robot. These controllers are inspired by the biological paradigm of central pattern generators and are responsible for generating a locomotion gait. A general structure, which is able to change the locomotion gait according to environmental conditions, is introduced. This structure is based on an adaptive system, implemented by motor maps, and is able to learn the correct locomotion gait on the basis of a reward function. The proposed control system is validated by a large number of simulations carried out in a dynamic environment for simulating legged robots.
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