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Bio-inspired control of motion is an active field of research with manyapplications in real world tasks. In the case of robotic systems that need toexhibit oscillatory behaviour (i.e. locomotion of snake-type or legged robots),Central Pattern Generators (CPGs) are among the most versatile solutions. Thesecontrollers are often based on loosely-coupled oscillators similar to thosefound in the neural circuits of many animal species, and can be more robust touncertainty (i.e. external perturbations) than traditional control approaches.This project provides an overview of the state-of-the-art in the field of CPGs,and in particular their applications within robotic systems. The project alsotackles the implementation of a CPG-based controller in a small 3D-printedhexapod.

Central Pattern Generators for the control of robotic systems