Implementing gait pattern control and transition for legged locomotion

Yang, Zhijun ORCID: https://orcid.org/0000-0003-2615-4297, Rocha, Marlon, Lima, Priscila, Karamanoglu, Mehmet ORCID: https://orcid.org/0000-0002-5049-2993 and Franca, Felipe M.G. (2014) Implementing gait pattern control and transition for legged locomotion. In: 27th International Conference on CADCAM, Robotics and Factories of the Fu, 22-24/July/2014, 27th International Conference on CADCAM, Robotics and Factories of the Future 2014. . [Conference or Workshop Item]

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Abstract

In this work, a generalised central pattern generator (CPG) model is formulated to generate a full range of gait patterns for a hexapod insect. To this end, a recurrent neuronal network module, as the building block for rhythmic patterns, is proposed to extend the concept of oscillatory building blocks (OBB) for constructing a CPG model. The model is able to make transitions between different gait patterns by simply adjusting one model parameter. Simulation results are further presented to show the effectiveness and performance of the CPG network.

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