A Novel Double-Layered Central Pattern Generator-Based Motion Controller for the Hexapod Robot

To implement the various movement control of the hexapod robot, a motion controller based on the double-layered central pattern generator (CPG) is proposed in this paper. The novel CPG network is composed of a rhythm layer and a pattern layer. The CPG neurons are constructed based on Kuramoto nonlinear oscillator. The parameters including the frequency, coupling strength, and phase difference matrix of the CPG network for four typical gaits are planned. The mapping relationship between the signals of the CPG network and the joint trajectories of the hexapod robot is designed. The co-simulations and experiments have been conducted to verify the feasibility of the proposed CPG-based controller. The actual average velocities of the wave gait, the tetrapod gait, the tripod gait, and the self-turning gait are 10.8 mm/s, 25.5 mm/s, 37.8 mm/s and 26°/s, respectively. The results verify that the hexapod robot with the proposed double-layered CPG-based controller can perform stable and various movements