Abstract
Assembly mechanisms of mobile robots are a wheel, a crawler or a leg. The legged robot has various advantages to move on an irregular terrain. The central pattern generator (CPG) is a one of method to make the locomotion of a legged robot. Controlled parameters are amplitudes and frequencies of output signals. These parameters depend on the structure of CPG, connection weights and time constants.
In this paper, we consider with a multi-legged robot which has a jumpable mechanism. The periodic jumping movements are generated by CPG composed of Matsuoka oscillators. The designed CPG is verified by some simulations.
