Comparing different controllers for the coordination of a six-legged walker

This paper compares four models for coordination: the Cruse rules (Cruse et al. 199), two extended versions of a model based on ideas by Porta and Celaya (2001), and one model based on the idea of MMC networks (Steinkuhler and Cruse 1998). All models are capable of coordinating a six-legged walker on level terrain and of crossing low obstacles. The experiments presented here show that an MMC network for coordination is feasible and that the Porta variants, which are based on rather intuitive ideas, show the best performance.