This paper describes the implementation of a bioinspired six legged robot: Gregor I. Both structure and locomotion control are inspired by biological observations in cockroaches. Robot mechanics attempts to emulate main structural features in cockroaches, like self-stabilizing posture and specializing legged function; in turn, locomotion control is based on the theory of the Central Pattern Gen...

This paper presents preliminary development of autonomous sensor-guided behaviors for a six-legged dynamical robot (RHex). These behaviors represent the first exteroceptive closed-loop locomotion strategies for this system. Simple motion models for RHex are described and used to deploy controllers for inertial straight line locomotion and visual line following. Results are experimentally valida...

In this article, we present a generic locomotion control framework for legged robots and strategy policy optimization. The is based on neural black-box combines central pattern generator (CPG) radial basis function (RBF) network to create CPG-RBF network. acts as produce arbitrary rhythmic trajectories the joints of robots. main features are: 1) it since can be applied with different morphologi...

Compared to agile legged animals, wheeled and tracked vehicles often suffer large performance loss on granular surfaces like sand and gravel. Understanding the mechanics of legged locomotion on granular media can aid the development of legged robots with improved mobility on granular surfaces; however, no general force model yet exists for granular media to predict ground reaction forces during...