Modelling of Bipedal Robots Using Coupled Nonlinear Oscillators

Abstract

From presented results and their analysis and discussion, we come to the following conclusions about the modelling of a bipedal locomotor using mutually coupled oscillators: 1) The use of mutually coupled Rayleigh oscillators can represent an excellent way to signal generation, allowing their application for feedback control of a walking machine by synchronisation and coordination of the lower extremities. 2) The model is able to characterise three of the six most important determinants of human gait. 3) By changing a few parameters in the oscillators, modification of the step length and the frequency of the gait can be obtained. The gait frequency can be modified by means of the equations (23-25), by choosing a new value for . The step length can be modified by changing the angles 9 and 12, being the parameters qi and i, i {3, 9, 12}, responsible for the gait transitions. In future works, it is intended to study the behaviour of the ankles, as well as simulate the behaviour of the hip and knees in the other anatomical planes, thus increasing the network of coupled oscillators, looking for to characterise all determinants of gait, and consequently simulate with more details the central pattern generator of the human locomotion.