Hexapodal robot locomotion over uneven terrain

This paper presents a novel gait generation approach which combines a reactionary and a central pattern generator (CPG) system. The former couples isolated leg controllers by simple gait generation rules that ensure static stability and produce a continuum of gait patterns across the full speed range. The CPG system is based on six coupled oscillators and complements the reactionary system to form an adaptive robust gait generator dominated by reactionary feedback at low speeds and the CPG at high speeds. The gait generation system has been demonstrated controlling a purpose built hexapodal robot (MAX) which can traverse uneven terrain