Susanne Still, Mark W Tilden, Institute of Neuroinformatics, ETH Zurich, Gloriastr 32, CH-8006 Zurich, Switzerland
In this paper we describe a controller for 4-legged robot locomotion implemented on a 4-legged walking machine. The controller uses coupled nonlinear oscillators. It is very efficient, needing no software and only a small number of components to guarantee coordination between the leg movements leading to walking. We explain how inter-leg coordination is achieved and we show data, which confirms that depending on the state of the controller, two different gaits can be observed in the resulting behaviour of the robot.