Insect walking is based on a decentralized architecture revealing a simple and robust controller.

@article{Cruse2007InsectWI,
  title={Insect walking is based on a decentralized architecture revealing a simple and robust controller.},
  author={Holk Cruse and Volker D{\"u}rr and Josef Schmitz},
  journal={Philosophical transactions. Series A, Mathematical, physical, and engineering sciences},
  year={2007},
  volume={365 1850},
  pages={221-50}
}
Control of walking in rugged terrain requires one to incorporate different issues, such as the mechanical properties of legs and muscles, the neuronal control structures for the single leg, the mechanics and neuronal control structures for the coordination between legs, as well as central decisions that are based on external information and on internal states. Walking in predictable environments and fast running, to a large degree, rely on muscle mechanics. Conversely, slow walking in… CONTINUE READING