Tatsuji Tokiwa, Takeshi Yamakawa (2009) Central Pattern Generator Network with High Controllability for Tripod Gait Generator and Its Application Journal of Signal Processing 13: 6. 477-485 Abstract: We have proposed a central pattern generator (CPG) network for quadrupedal locomotion signal generators. The proposed network comprised four CPGs and one rhythm generator and had the feature of independent controllability of the amplitude and period. In this study, the proposed network is applied to generate a tripod gait typical of hexapod insects. The network retains the feature of independent controllability and can be logically designed. In order to verify the eft"ectiveness of the proposed method, first the operations of the network are simulated. Moreover, a hexapod robot named Yamac-H is designed and the CPG network is implemented in it. Through experimental results, we confirm that the designed robot generates the tripod gait and can walk on flat ground. The network is suitable for a locomotion signal generator used to generate a tripod gait, because its configuration and the values of connection weights can be logically and uniquely designed, and the amplitude and period of the output signals can be independently controlled.
Notes:
