Neural control of artificial six-legged terrestrial locomotion on rough terrain

This paper describes neural control of walking and leg locomotion on rough uneven terrains of a six-legged terrestrial robot. Central and local leg control using neural networks is described. Rhythmic walking patterns are achieved by a central control using a knowledge-based neural network. On the other hand, local leg control, is performed by an Adaline type neural network. Both networks were design based on biological principles. In order to produce movements similar to natural behavior, both networks receive feedback from leg sensors. Simulation outputs are presented as digital diagrams