Central rhythm generator for generating signals to control the gait of a walking robot

摘要

The utility model relates to oscillatory systems and can be used in robotics to generate signals that specify the gait of a walking robot, as well as to control gait modes. The central rhythm generator for generating gait control signals for a walking robot consists of one active oscillator with nonlinear damping, a sinusoidal signal generator and two linear dissipative oscillatory circuits connected in parallel to the active oscillator circuit through a capacitor. The technical result consists in simplifying the design and expanding the capabilities of the rhythm generator.