A Research on Gait Pattern Generator Model by Use of an Undulation on a Graph

摘要

In this paper, we propose a method of constructing a central pattern generator (CPG) model. A CPG is an intraspinal network of neurons capable of generating a rhythmic output. This CPG model can generate oscillating patterns which change according to the network energy. This energy can be considered as a driving intention of locomotion. We introduce two time-evolution systems on a graph; one is a wave equation which is Hamilton system and the other is a diffusion equation which is gradient system. The former generates intrinsic oscillating modes, and they correspond to gait patterns naturally. And the latter selects and transits in modes by bifurcating its potential function. The superposed system of them is our objective CPG model. Some computer simulations show that the proposed CPG model with six oscillators can generate insect's gait patterns and their change according to the network energy.