  Multilegged robots have the ability to perform stable locomotion on
relatively rough terrain. However, the complexity of legged robots over wheeled
or tracked robots make them difficult to control. This paper presents OpenSHC
(Open-source Syropod High-level Controller), a versatile high-level controller
{capable of generating gaits and poses for quasi-static multilegged robots,
both simulated and with real hardware implementations. With full Robot
Operating System (ROS) integration, the controller can be quickly deployed on
robots with different actuators and sensor payloads}. The flexibility of
OpenSHC is demonstrated on the 30 degrees of freedom hexapod Bullet, analysing
the energetic performance of various leg configurations, kinematic arrangements
and gaits over different locomotion speeds. With OpenSHC being easily
configured to different physical and locomotion specifications, a
hardware-based parameter space search for optimal locomotion parameters is
conducted. The experimental evaluation shows that the mammalian configuration
offers lower power consumption across a range of step frequencies; with the
insectoid configuration providing performance advantages at higher body
velocities and increased stability at low step frequencies. OpenSHC is
open-source and able to be configured for various number of joints and legs.
