ABSTRACT
Biologists have uncovered some of the mechanisms at work in the control of legged animals. The animal CPG has received much attention and provides new inspira tion for the control of legged robots. This paper presents the further development of a control method which in volves coupled oscillators. In particular, the paper dis cusses a pair of coupled oscillators which operate in dis crete time and which have been implemented on a pair of microcontrollers. Coupling between the oscillators only need occur twice each period (once for each oscil lator), rather than continually. A simulation demon strates phaselocking of the two oscillators. Experimen tal results are briefly described.