CPG for motor control

In this Chapter themain results related to locomotion control are reported. Theoretical results referring to Contraction theory are exploited to design reaction diffusion dynamical systems able to work as stable Central Pattern Generators for multipodal robotic structures. A series of strategies are also discussed referring to the control of migration through different locomotion patterns as well as to the steering control for trajectory planning. Relevant parameters are also outlined in view of their modulation for a low low-level feedback control. Both theoretical and experimental results are reported to verify the suitability of the approach.