Coupled Chaotic Oscillators and Its Relation with Artificial Quadrupeds' Central Pattern Generator

摘要

Animal locomotion employs different periodic patterns known as animal gaits.In 1993 Collins and Stewart achieved the characterization in quadrupeds andbipeds by using permutation symmetries groups which impose constrains in thelocomotion centre called Central Generator Pattern (CGP) in the animal brain.They modelled the CGP by coupling four non linear oscillators and with the onlychange in the coupling it is possible to reproduce all the gaits. In this workwe propose to use coupled chaotic oscillators synchronized with the Pyragasmethod not only to characterize the CGP symmetries but also evaluate the timeserie behaviour when the foot is in contact with the ground for futures roboticapplications.