The capacity of walking in a wide variety of terrains is one of the most important
features of hexapod insects. In this paper we describe a bio-inspired controller able to
generate locomotion and reproduce the different type of gaits for an hexapod robot.
Motor patterns are generated by coupled Central Pattern Generators, formulated as nonlinear
oscillators. In order to demonstrate the robustness of the controller we developed a simulation
model of the real Chiara hexapod robot where are described the most important steps of its
development.
Results were performed in simulation using the developed model of the Chiara hexapod robot
