CENTRAL RHYTHM GENERATOR FOR GENERATING GAIT CONTROL SIGNALS OF A PASSING ROBOT

摘要

FIELD: oscillatory systems.;SUBSTANCE: invention 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 and at least one linear dissipative oscillatory circuit connected in parallel to the active oscillator circuit through a capacitor.;EFFECT: simplifying the design and expanding the capabilities of the rhythm generator.;4 cl, 7 dwg