Analysis of Oscillators for the Generation of Rhythmic Patterns in Legged Robot Locomotion

Abstract

This paper presents a study of several oscillators for the generation of rhythmic patterns that are used in the locomotion of legged robots using a central pattern generator (CPG). This work also shows a comparative analysis of these oscillators focused on their implementation as part of the CPG system, based on simulations made using software tools. Three models were implemented and simulated: the Hopf model as an example of a harmonic oscillator, a reflexive oscillator using the Van der Pol oscillator, and the ACPO (amplitude coupled phase oscillator) corresponding to the phase oscillators category. It is established that a phase oscillator is the best choice when working with CPGs offering a simple yet versatile way to connect the limbs.