Control of Walking in the Stick Insect: From Behavior and Physiology to Modeling

@article{Dean1999ControlOW,
  title={Control of Walking in the Stick Insect: From Behavior and Physiology to Modeling},
  author={Jeffrey Dean and Thomas Kindermann and Josef Schmitz and Michael Schumm and Holk Cruse},
  journal={Autonomous Robots},
  year={1999},
  volume={7},
  pages={271-288}
}
Classical engineering approaches to controlling a hexapod walker typically involve a central control instance that implements an abstract optimal gait pattern and relies on additional optimization criteria to generate reference signals for servocontrollers at all the joints. In contrast, the gait of the slow-walking stick insect apparently emerges from an extremely decentralized architecture with separate step pattern generators for each leg, a strong dependence on sensory feedback, and… Expand
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