Analysis of coupled van der Pol oscillators and implementation to a myriapod robot

According to the study of nervous system ethology, it is thought that a walk movement of an animal is controlled by Central Pattern Generator (CPG). There are a lot of studies to try the control of the leg type robot based on CPG principle. However, most of the studies consider two or four leg type robots, and there are not many studies performed for robots more than six legs. One of its factor is probably difficulty of constituting stable and periodic CPG in the case of many number of the legs. Therefore, this paper proposes the novel CPG model which is based on coupled van del Pol oscillators. And this paper reports the analysis of proposed coupled van del Pol oscillators model and the implementation result to an actual myriapod robot.