Summary
International Symposium on Nonlinear Theory and Its Applications
2022
Session Number:B4L-B
Session:
Number:B4L-B-01
A Novel Ergodic Cellular Automaton Hexapod Central Pattern Generator Model and Analyses of its Transient Phenomena Caused by Time-Varying Coupling Weight
Shoma Sato , Hiroyuki Torikai,
pp.371-373
Publication Date:12/12/2022
Online ISSN:2188-5079
Summary:
A generalized ergodic cellular automaton central pattern generator (CPG) model is proposed. It is shown that the proposed model exhibits various synchronization patterns to realize gaits of a hexapod robot. In this paper, we analyze transient phenomena of synchronization patterns caused by time-varying coupling weight and show that there exist a parameter setting that realizes smooth transitions. The proposed model is implemented by a field-programmable gate array (FPGA). It is shown that the proposed model can realize some typical gaits of hexapod robots and their smooth transitions.