Analysis of pattern generation in non-periodic clock-driven unidirectionally coupled phase oscillators in a ring

Abstract

Unidirectionally coupled phase oscillators in a ring are simple structures but unsuitable for application in central pattern generators (CPGs) for six-legged walking due to coexisting stable synchronization patterns. This paper shows that the coupled oscillators can be applied to a CPG by utilizing a non-periodic signal generator as a clock. The non-periodic clock-driven coupled oscillators are implemented by a sequential logic circuit using a field programmable gate array (FPGA) and a nonlinear analog circuit. A laboratory experiment confirms that a hexapod robot mounting the implemented circuits can realize six-legged walking.