Evaluation and Optimization of Nonlinear Central Pattern Generators for Robotic Locomotion

Abdalftah Elbasir Gumah Elbori, Mehmet Turan, Kutluk Bilge Arikan


With regard to the optimization of Central Pattern Generators (CPGs) for bipedal locomotion in robots, this paper investigates how the different cases of CPGs such as uncoupled, unidirectional, bidirectional two CPGs are used to produce rhythmic patterns for one leg with two degrees of freedom (DOF). This paper also discusses the stability analysis of CPGs and attempts to utilize genetic algorithms with the hybrid function and adapts the CPGs to robotic systems that perform one-leg movement, by utilizing the bidirectional two CPGs. The results show far greater improvement than in the other cases. CPGs not only enhance movement but also control locomotion without any sensory feedback.


Central Patterns Generators (CPGs), one leg model, a strategy to couple CPGs, stability analysis, optimizing CPGs.

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