CPG model for autonomous decentralized multi-legged robot system—generation and transition of oscillation patterns and dynamics of oscillators

Abstract

A central pattern generator (CPG) model is proposed for the gait-pattern generation mechanism of an autonomous decentralized multi-legged robot system. The topological structure of the CPG is represented as a graph on which two time evolution systems, the Hamilton system and a gradient system, are introduced. The CPG model can generate oscillation patterns depending only on the network topology and can bifurcate different oscillation patterns according to the network energy, which means that the robot can generate gait patterns by connecting legs and transit gait patterns according to such parameters as the desired speed.