Abstract.
The objective of the work presented here was the modeling of a bipedal robot using a central pattern generator (CPG) formed by a set of mutually coupled Rayleigh oscillators. We analyzed a 2D model, with the three most important determinants of gait, that performs only motions parallel to the sagittal plane. Using oscillators with integer relation of frequency, we determined the transient motion and the stable limit cycles of the network formed by the three oscillators, showing the behavior of the knee angles and the hip angle. A comparison of the plotted graphs revealed that the system provided excellent results when compared to experimental analysis. Based on the results of the study, we come to the conclusion that the use of mutually coupled Rayleigh oscillators can represent an excellent method of signal generation, allowing their application for feedback control of a walking machine.
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Acknowledgements The authors would like to express their gratitude to CNPq and CAPES for the financial support provided during the course of this research.
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Filho, A., Dutra, M. & Raptopoulos, L. Modeling of a bipedal robot using mutually coupled Rayleigh oscillators. Biol Cybern 92, 1–7 (2005). https://doi.org/10.1007/s00422-004-0531-1
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DOI: https://doi.org/10.1007/s00422-004-0531-1