Enhancing Legged Robot Locomotion Through Smooth Transitions Using Spiking Central Pattern Generators

Enhancing Legged Robot Locomotion Through Smooth Transitions Using Spiking Central Pattern Generators

In this work, we propose the integration of a mechanism to enable smooth transitions between different locomotion patterns in a hexapod robot. Specifically, we utilize a spiking neural network (SNN) functioning as a Central Pattern Generator (CPG) to generate three distinct locomotion patterns, or g...

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Bibliographic Details
Main Authors: Horacio Rostro-Gonzalez, Erick I. Guerra-Hernandez, Patricia Batres-Mendoza, Andres A. Garcia-Granada, Miroslava Cano-Lara, Andres Espinal
Format: Article
Language:English
Published: MDPI AG 2025-06-01
Series:Biomimetics
Subjects:
spiking neurons
Central Pattern Generators
legged robots
lomocotion
gait transitions
Online Access:https://www.mdpi.com/2313-7673/10/6/381
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