The bipedal locomotion is performed by means of rhythmic and synchronized motions. These movements have a pattern produced by nervous networks in the spinal marrow. These specialized systems are known as central pattern generators (CPGs). Oscillators can be used to create similar systems to the human CPG, providing approximate patterns of locomotion. The objective of this work is to present a nonlinear oscillators system used to generate patterns of bipedal locomotion, taking into consideration a 2D model, with three determinants of human gait, which performs parallel movements to the sagittal plane. Using this system, the behavior of the hip and knee angles was determined. Modification of the step length and gait frequency can be obtained from change of few parameters in the oscillators. An analysis of the system provides excellent results when compared to experimental analyses. Based on these results, we conclude that the use of nonlinear oscillators can represent an excellent method for creation of pattern generators, allowing their application to simulate a CPG of bipedal locomotion.
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