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CPG model for autonomous decentralized multi-legged robot system—generation and transition of oscillation patterns and dynamics of oscillators |
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| Authors: | Shinkichi Inagaki Hideo Yuasa and Tamio Arai |
| Affiliation: | a Suematsu Lab., Department of Electronics-Mechanical Engineering, School of Engineering, Nagoya University, Huro-cho, Chikusa-ku, Nagoya 464-8603, Japan b The Institute of Physical and Chemical Research (RIKEN) at Nagoya, 2271-130, Anagahora, Shimoshidami, Moriyama-ku, Nagoya 463-0003, Japan c Arai-Yuasa-Ota Lab., Department of Precision Engineering, School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan |
| 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. |
| Keywords: | Central pattern generator Gait pattern Pattern transition Legged robot Autonomous decentralized system |
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