Figure 2.

Adaptive neural locomotion control. The controller generates insect-like, energy-efficient, and adaptable locomotion of AMOS II. This adaptive neural closed-loop controller consists of one CPG-based control unit and six local leg control units (R1-, R2-, R3-, L1-, L2-, and L3-control) (see text for functional description and Figure A2 for the complete circuit). Abbreviations are referred to Figure 1.