Distributed intelligent control structure for multi-legged walking robots

This paper describes a distributed intelligent control structure for multilegged walking robots. Since living things have nerve center to realize fundamental athletic function, robots should also have such distributed low level controllers to govern the fundamental local motion. The proposed control structure consists of multiple controllers, where each controller corresponds to each leg and it determines the motion of its leg by common information and its own local information. This system is just like a swarm intelligence. The central controller needs not to consider the detail of each leg motion; it only does the global path planning and adjust the total synchronization.