CPG-based Control System for Foot Locomotion of Gecko-inspired Robot

In this paper, a CPG-based hierarchical control system for the gecko-inspired robot is proposed to accomplish the detachment and attachment movements and to realize crossing obstacles. We designed a CPG nervous network with feedback connection, which can produce adaptive patterns for extra environments. Simulations were carried out to test the system's realization. Experiments show that the control strategy is feasible and make it easier for the robot to attach and detach.