CPG for Motor Control

In this Chapter the main results related to locomotion control are reported.Theoretical results referring to Contraction theory are exploited to design reactiondiffusion dynamical systems able to work as stable Central Pattern Generators formultipodal robotic structures. A series of strategies are also discussed referring to thecontrol of migration through different locomotion patterns as well as to the steeringcontrol for trajectory planning. Relevant parameters are also outlined in view of theirmodulation for a low low-level feedback control. Both theoretical and experimentalresults are reported to verify the suitability of the approach.