Multiple Decoupled CPGs with Local Sensory Feedback for Adaptive Locomotion Behaviors of Bio-inspired Walking Robots

  • Subhi Shaker Barikhan
  • Florentin Wörgötter
  • Poramate Manoonpong
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8575)


Walking animals show versatile locomotion. They can also adapt their movement according to the changes of their morphology and the environmental conditions. These emergent properties are realized by biomechanics, distributed central pattern generators (CPGs), local sensory feedback, and their interactions during body and leg movements through the environment. Based on this concept, we present here an artificial bio-inspired walking system. Its intralimb coordination is formed by multiple decoupled CPGs while its interlimb coordination is attained by the interactions between body dynamics and the environment through local sensory feedback of each leg. Simulation results show that this bio-inspired approach generates self-organizing emergent locomotion allowing the robot to adaptively form regular patterns, to stably walk while pushing an object with its front legs or performing multiple stepping of the front legs, to deal with morphological change, and to synchronize its movement with another robot during a collaborative task.


Adaptive behavior Hexapod locomotion Brain-body-environment interaction Autonomous robots Neural networks 


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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Subhi Shaker Barikhan
    • 1
    • 2
  • Florentin Wörgötter
    • 1
  • Poramate Manoonpong
    • 1
    • 3
  1. 1.Bernstein Center for Computational Neuroscience (BCCN), The Third Institute of PhysicsUniversity of GöttingenGöttingenGermany
  2. 2.Institute of Computer ScienceUniversity of GöttingenGöttingenGermany
  3. 3.Maersk Mc-Kinney Moller InstituteUniversity of Southern DenmarkOdense MDenmark

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