Summary
International Symposium on Nonlinear Theory and Its Applications
2022
Session Number:C3L-D
Session:
Number:C3L-D-03
A Generalized Ergodic Cellular Automaton Model of Central Pattern Generator and its Bifurcation Analyses Induced by Chopper Type Mixed Gaits
Jumpei Kamitoko , Hiroyuki Torikai,
pp.491-494
Publication Date:12/12/2022
Online ISSN:2188-5079
Summary:
In this paper, we propose a generalized ergodic cellular automaton model of a central pattern generator. The proposed model can realize synchronization phenomena, which can realize typical gaits of a quadruped robot. It is shown that by mixing coupling matrices based on a chopper manner, the proposed model can realize mixed gaits of the quadruped robot depending on the ratios of the matrices in the chopper. Also, it is shown that the proposed model is more hardware-efficient compared to a straightforward implementation of an ordinary differential equation central pattern generator model.