Walking pattern generation of four-legged robot using four-coupled VDP oscillators

Abstract

In this paper, we explain walking pattern generation method for four-legged walking robot using a non-linear oscillator. We use van der Pol equation as a non-linear oscillator. When some van der pol oscillators are coupled mutually, they interact each other and synchronize various patterns. The behavior of such oscillators is called mutual entrainment. In this study, we describe walking pattern generate method of four-legged robot by using mutual entrainment of four-coupled VDP oscillators. Our method is able to generate the walking pattern that the robot moves forward, backward and right or left turning by varying the phase of the oscillator.