Central pattern generator

Robot

Philosophy

Ecology

Neuroscience

Biology

Computer science

Classical mechanics

Robot control

Controller (irrigation)

Adaptability

Hexapod

Physics

Reinforcement learning

Aesthetics

Agronomy

Mobile robot

Robot locomotion

Artificial intelligence

Rhythm

Kinematics

Adaptation (eye)

Frontiers in Neurorobotics

In this paper, an adaptive locomotion control approach for a hexapod robot is proposed. Inspired from biological neuro control systems, a 3D two-layer artificial center pattern generator (CPG) network is adopted to generate the locomotion of the robot. The first layer of the CPG is responsible for generating several basic locomotion patterns and the functional configuration of this layer is determined through kinematics analysis. The second layer of the CPG controls the limb behavior of the robot to adapt to environment change in a specific locomotion pattern. To enable the adaptability of the limb behavior controller, a reinforcement learning (RL)-based approach is employed to tune the CPG parameters. Owing to symmetrical structure of the robot, only two parameters need to be learned iteratively. Thus, the proposed approach can be used in practice. Finally, both simulations and experiments are conducted to verify the effectiveness of the proposed control approach.

Adaptive Locomotion Control of a Hexapod Robot via Bio-Inspired Learning