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

Abstract

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