Modular Neural Control for Object Transportation of a Bio-inspired Hexapod Robot

Insects, like dung beetles, can perform versatile motor behaviors including walking, climbing an object (i.e., dung ball), as well as manipulating and transporting it. To achieve such complex behaviors for artificial legged systems, we present here modular neural control of a bio-inspired hexapod robot. The controller utilizes discrete-time neurodynamics and consists of seven modules based on three generic neural networks. One is a neural oscillator network serving as a central pattern generator (CPG) which generates basic rhythmic patterns. The other two networks are so-called velocity regulating and phase switching networks. They are used for regulating the rhythmic patterns and changing their phase. As a result, the modular neural control enables the hexapod robot to walk and climb a large cylinder object with a diameter of 18 cm (i.e.,approximate to 2.8 times the robot's body height). Additionally, it can also generate different hind leg movements for different object manipulation modes, like soft and hard pushing. Combining these pushing modes, the robot can quickly transport the object across an obstacle with a height up to 10 cm (i.e., approximate to 1.5 times the robot's body height). The controller was developed and evaluated using a physical simulation environment.