A bio- inspired locomotion control approach through synchronization of embodied neural oscillators

The realization of a bio-inspired central pattern generator for legged robots passes through the definition of the basic neural units and their interconnections, designed to generate stable locomotion gaits. In this work, the interplay between the neural units and the actuators is investigated with the aim to integrate the two components realizing an embodied neuron. A nullcline-based control strategy is applied to modulate the neuron oscillatory behaviour for the generation of adaptive locomotion gaits.