Walking pattern control for four-legged walking robot using synchronization pattern of four-coupled van der Pol equations

–Tracking characteristic to target phase patterns–

Abstract

In our previous work, we proposed a walking pattern generation method of a four-legged robot using four-coupled van der Pol (VDP) equations. We use VDP equation as a nonlinear oscillator to generate a walking pattern of the robot. When several equations are coupled mutually, they influence each other and their periodic solutions synchronize. Our walking pattern generation method can control forward and turning motions of a four-legged robot by changing a phase difference pattern between VDP equations. In this study, we describe the numerical simulation result that analyzed tracking characteristic to a target pattern of a phase difference pattern in each case of all or serial coupled VDP equations.