Analysis of pattern generation in non-periodic clock-driven unidirectionally coupled phase oscillators in a ring

Unidirectionally coupled phase oscillators in a ring are simple structures but unsuitable for application central pattern generators (CPGs) six-legged walking due to coexisting stable synchronization patterns. This paper shows that the can be applied CPG by utilizing non-periodic signal generator as clock. The clock-driven implemented sequential logic circuit using field programmable gate array (FPGA) and nonlinear analog circuit. A laboratory experiment confirms hexapod robot mounting circuits realize walking.