Abstract
We are developing a adaptable leg trajectory generation method. It is difficult to describe a whole system including leg trajectory calculation. In the case of using neural oscillator into the walking control, we usually treat the output as joint torques of a robot. In general, we use the oscillator without calculation of leg trajectories. However, we have to consider that some obstacles interrupt the robot walking within the legs' swing. It is effective to consider that periodic waves assign target coordinates of parts of the feet. This paper shows that a neural oscillator network performs as a target coordinates' generator. We can adapt to the adaptable leg trajectories' generation by changing the 3 dimensional target coordinates' waveform without leg trajectories calculation.
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