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<p>Legged robots offer remarkable adaptability in navigating complex environments, but achieving reliable direction control remains a challenge, especially under decentralized controls that avoid high computation, prior training, or detailed modeling. While such controls enable rapid gait formation using only minimal proprioceptive feedback and robot–environment interaction, they often result in unstable heading behavior, such as unintended turns or a random walking direction. In this study, we propose a differential adaptive steering control mechanism that operates in conjunction with decentralized locomotion control to stabilize and guide the robot’s heading using only body orientation in the yaw angle. Our method modulates the leg movement amplitude to achieve target-aligned directional adaptation. We validated our approach on a simulated stick insect-like robot on both flat and rough terrains of varying roughness, including straight and complex paths. Additionally, we demonstrated the proposed control on a physical stick insect-like robot on flat terrain, where the robot achieves stable straight-line locomotion.</p>

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A differential steering mechanism for directional adaptation and self-organized locomotion under decentralized control in legged robots

  • 期刊论文

  • 发表日期：

    2026年7月3日

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  • Thirawat Chuthong,
  • Poramate Manoonpong

摘要

Legged robots offer remarkable adaptability in navigating complex environments, but achieving reliable direction control remains a challenge, especially under decentralized controls that avoid high computation, prior training, or detailed modeling. While such controls enable rapid gait formation using only minimal proprioceptive feedback and robot–environment interaction, they often result in unstable heading behavior, such as unintended turns or a random walking direction. In this study, we propose a differential adaptive steering control mechanism that operates in conjunction with decentralized locomotion control to stabilize and guide the robot’s heading using only body orientation in the yaw angle. Our method modulates the leg movement amplitude to achieve target-aligned directional adaptation. We validated our approach on a simulated stick insect-like robot on both flat and rough terrains of varying roughness, including straight and complex paths. Additionally, we demonstrated the proposed control on a physical stick insect-like robot on flat terrain, where the robot achieves stable straight-line locomotion.