This project is for the development of a new network controller for legged vehicles that integrates intermediate and local levels
and takes into account eventual descending commands from higher level systems. The neural circuitry that
forms the basis of this control scheme will be derived from biological experiments whose results are formalized
through engineering modeling techniques. We believe the resulting models will suggest fundamental control
principles. The advantage of a network control system based in neurobiology is that the vehicle can move
like an animal, automatically adapting to different terrains without a great computational burden and without
requiring exceptions for unexpected situations. Even a mathematically intensive engineered control system
cannot take into account all possible situations and will fail in some circumstances where animal systems
succeed. This proposed network controller will provide legged vehicles with energy efficient, dynamically
stable and dynamic, terrain adaptive gaits.