Abstract
In this paper, we explain a proposed Central Pattern Generator (CPG) network with independent controllability. The network is comprised of some CPGs and one Rethm Generator (RG). Each CPG and RG is represented by the Van der Pol equation. In order to verify the effectiveness of our proposed CPG network, the network is applied to a generator for an alternating tripod gait, and is implemented to a hexapod robot. A walking speed by stepping out of the model can be freely controlled by external signals, because the amplitude and the period of each output signal of the CPG can be independently controlled, keeping the value of the phase difference between CPGs.
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