A pulse-type hardware CPG model for quadruped locomotion pattern

Abstract

It is known that locomotion such as walking by a living organism is generated and transited by CPG (Central Pattern Generator) in the central nervous system. We investigate a pulse-type hardware CPG model using coupled oscillator composed of pulse-type hardware neuron models. A CPG model needs to generate and control quadruped locomotion. In this paper, we describe generation and transition of oscillation patterns, corresponding to quadruped locomotion patterns. As a result, it is shown that generation and transition of oscillation patterns are possible by giving external inputs of one pulse to the CPG model.