Models of Central Pattern Generators for the Locomotion of a Semi-Looper Robot

摘要

To make a central pattern generator (CPG) for articulated robots, we survey two well-known oscillators, Mat-suoka's oscillator and Van der Pol (VDP) oscillator. In particular, we discuss how to connect each oscillator to construct a stable CPG network. Moreover, some CPG networks using such oscillators are designed for a semi-looper type robot with four links.