Harmonic versus Chaos Controlled Oscillators in Hexapedal Locomotion

Luis A Fuente, Michael Adam Lones, Nigel Crook, Tjeerd Olde Scheper

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


The behavioural diversity of chaotic oscillator can be controlled into periodic dynamics and used to model locomotion using central pattern generators. This paper shows how controlled chaotic oscillators may improve the adaptation of the robot locomotion behaviour to terrain uncertainties when compared to nonlinear harmonic oscillators. This is quantitatively assesses by the stability, changes of direction and steadiness of the robotic movements. Our results show that the controlled Wu oscillator promotes the emergence of adaptive locomotion when deterministic sensory feedback is used. They also suggest that the chaotic nature of chaos controlled oscillators increases the expressiveness of pattern generators to explore new locomotion gaits.
Original languageEnglish
Title of host publicationInformation Processing in Cells and Tissues
Subtitle of host publication10th International Conference, IPCAT 2015, San Diego, CA, USA, September 14-16, 2015, Proceedings
Number of pages14
ISBN (Electronic)9783319231082
ISBN (Print)9783319231075
Publication statusPublished - Sept 2015
Event10th International Conference - California, San Diego, United States
Duration: 14 Sept 201516 Sept 2015

Publication series

NameLecture Notes in Computer Science
PublisherSpringer International Publishing
ISSN (Print)0302-9743


Conference10th International Conference
Abbreviated titleIPCAT 2015
Country/TerritoryUnited States
CitySan Diego
OtherInformation Processing in Cells and Tissues

ASJC Scopus subject areas

  • General Computer Science
  • Theoretical Computer Science


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