Abstract
The torque pattern generation of a semi-looper robot is discussed in this paper. The semi-looper robot can perform both motion patterns of a green caterpillar and a looper. The serial link mechanism constructs the semi-looper robot. A central pattern generator (CPG) is introduced to generate the motion pattern of the semi-looper robot. The CPG is composed of Matsuoka oscillator which is familiar approach in order to generate motion patterns of legged robots. Discussion points are the structure of a CPG network and design parameters of Matsuoka oscillators. Some simulations using the open dynamics engine (ODE) demonstrate the designed motion pattern of a six-link robot.
