Talk:Hexapod (robotics)
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Proposed addition at the end of the "Biologically Inspired" section
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Insect gaits are usually obtained by two approaches: the centralized and the decentralized control architectures. Centralized controllers directly specify transitions of all legs, whereas in decentralized architectures, six nodes (legs) are connected in a parallel network; gaits arise by the interaction between neighbouring legs. One approach for realizing controllers is inspired by the notions of connectionism and emergence: a network is created by coupling nonlinear oscillators, whose connections are controlled in such a manner as to obtain the generation of the intended walking patterns, realizing a Central pattern generator. For example, such oscillators can be implemented using Field-programmable analog array devices and be used to create a two-layer network, wherein one layer generates the gain sequence and the other the leg trajectories.[1]
- Tokyo Tech's six-legged robots get closer to nature (Japan). ( Lminati (talk) 15:25, 12 March 2019 (UTC) )
References
- ^ a b Minati L, Frasca M, Yoshimura N, Koike Y "Versatile Locomotion Control of a Hexapod Robot Using a Hierarchical Network of Nonlinear Oscillator Circuits"