Walking robots and the central and peripheral control of locomotion in insects

This paper outlines aspects of locomotor control in insects that may serve as the basis for the design of controllers for autonomous hexapod robots. C ontrol of insect walking can be considered hierarchical and modular. The br ain determines onset, direction, and speed of walking. Coordination is done locally in the ganglia that control leg movements. Typically, networks of neurons capable of generating alternating contractions of antagonistic musc les (termed central pattern generators, or CPGs) control the stepping movem ents of individual legs. The legs are coordinated by interactions between t he CPGs and sensory feedback from the moving legs. This peripheral feedback provides information about leg load, position, velocity, and acceleration, as well as information about joint angles and foot contact. In addition, b oth the central pattern generators and the sensory information that feeds t hem may be modulated or adjusted according to circumstances. Consequently, locomotion in insects is extraordinarily robust and adaptable.