Smooth gait transition in hardware-efficient CPG model based on asynchronous coupling of cellular automaton phase oscillators

In this paper, a central pattern generator (CPG) model based on asynchronous coupling of cellular automaton (CA) phase oscillators for hexapod robot is presented. The presented CPG composed the CA whose discrete state transitions are triggered by multiple clocks. Then, evaluation functions to quantify synchronization states target gait patterns in introduced. Analyzing synchronizations using functions, paper clarifies that suitable perform smooth than single clock (i.e., synchronous coupling). implemented field programmable gate array (FPGA); experiments verify mounted with FPGA, which implemented, can transitions.