Coordination of the Walking Stick Insect Using a System of Nonlinear Coupled Oscillators.

摘要

The area of walking machines is investigated. A design for a central pattern generator composed of nonlinear coupled oscillators which generates the characteristic gaits of the walking stick insect is presented. A full dynamic model of the walking stick insect is developed, including ground interaction. Furthermore, a method of numerically solving the dynamic equations is described. Next, a control system utilizing the system of nonlinear coupled oscillators is presented. Finally, a numerical/graphical simulation of the walking stick insect is described, and results presented.