Hexapod bionic robots have the characteristics of flexible movement on complex terrain and surfaces as well as strong environmental adaptability.Hexapod robots have many joints

and they usually use methods such as central pattern generator(CPG)to generate basic gaits such as forward and backward walking

but it is difficult to achieve fine regulation of the robot’s walking characteristics.At the same time

the traditional CPG control method based on the foot end point contact motion model cannot meet the demand for surface contact between the leg foot end of the bionic robot and environment

and cannot support the robot’s climbing and inspection on the surface of space station and tower.An improved gait control method is proposed.The method uses a single CPG neuron combined with a Hopf oscillator to generate rhythmic signals that are directly applied to the foot end of the hexapod robot.The angles of each joint are solved by inverse kinematics calculation

achieving coordinated control of the robot’s multi-legs.The proposed method achieves fine control of the robot’s walking characteristics by flexibly adjusting the parameters of the Hopf oscillator.In addition

an improved oscillator is proposed

which changes the contact between the robot’s foot end and the ground from point contact to planar contact motion which is more stable.Through simulation

it is verified that the improved oscillator model has the advantages of simple control and strong environmental adaptability

which effectively improves climbing movement ability of the robot in complex environments.