Locomotion pattern generation of semi-looper type robots using central pattern generators based on van der Pol oscillators

A control problem is studied for generating the locomotion pattern of a semi-looper type robot by applying central pattern generators (CPGs), in which such a robot can realize two-rhythm motion and green caterpillar locomotion depending on the condition of environment. After deriving the dynamical model with two links and one actuator, the simulation of the robot is conducted using a CPG consisting of one van der Pol (VDP) oscillator. A CPG network composed of two VDP oscillators is further constructed to realize four-rhythm motion with three links and two actuators.