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In this paper, dynamical systems made up of locally coupled nonlinear units are used to control the locomotion of bio-inspired robots and, in particular, a simulation of an insect-like hexapod robot. These controllers are inspired by the biological paradigm of central pattern generators and are responsible for generating a locomotion gait. A general(More)
— This paper describes the implementation of a bio-inspired six legged robot: Gregor I. Both structure and lo-comotion control are inspired by biological observations in cockroaches. Robot mechanics attempts to emulate main structural features in cockroaches, like self-stabilizing posture and specializing legged function; in turn, locomotion control is(More)
—We introduce a new methodology and experimental implementations for real-time wave-based robot navigation in a complex, dynamically changing environment. The main idea behind the approach is to consider the robot arena as an excitable medium, in which moving objects—obstacles and the target—are represented by sites of autowave generation: the target(More)
In this paper, we introduce a network of spiking neurons devoted to navigation control. Three different examples, dealing with stimuli of increasing complexity, are investigated. In the first one, obstacle avoidance in a simulated robot is achieved through a network of spiking neurons. In the second example, a second layer is designed aiming to provide the(More)