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.