A FWN-based distributed hierarchical system for hexapod bio-robot control

The hexapod bio-robot possess significant advantages on uneven surfaces compared with other type locomotion systems. It has the ability of adapting itself to complex terrains in the way of imitating walking insects. A large computational capability, real-time control and advanced control strategy is required to coordinate many degrees-of-freedom (DOF) used in legged locomotion systems. In this paper a mechanical structure is presented which is controlled by the FWN-based distributed hierarchical control method based on human nervous system principal. The control system is composed of centre control module, locomotion control module and locomotion module which takes charge of the highest decision-making and locomotion control of the every leg respectively. This control strategy and the embedded control system adopted in the robot provide powerful ability for dealing with the calculation of kinematics and dynamics that meets the requirement of real-time demand. To validate its effectiveness, the simulation is done and the results show the advantages of high static and dynamic performance, strong anti-disturb ability and robustness.