Abstract
A central pattern generator (CPG) model is proposed for a walk pattern generation mechanism of an autonomous decentralized multilegged robot. The topological structure of the CPG is represented as a graph, and on which two time-evolution systems: a wave equation (Hamilton system) and a gradient system are introduced. The CPG model can generate oscillation patterns depended only on the network topology and bifurcate different oscillation patterns according to the netwwk energy. This means that the robot can generate gait patterns only by connecting legs and transit between gait patterns according to a parameter such as a driving intention of locomotion.
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