Estimating Gait Patterns of One Leg By Using Central Pattern Generators
- It is perhaps noteworthy in the locomotion literature of recent years that different forms of locomotion can be found by genetic algorithms using patterns formed by uncoupled, unidirectional and bidirectional two Central Pattern Generators (CPGs). This paper outlines the kinematic model of one leg with two degrees of freedom (DOF), analyzes stability and bifurcation, and pinpoints CPGs and their implementations. Specifically, this paper presents an evolutionary method of gait generation for the one leg structure. It attempts to utilize genetic algorithms with hybrid function and adapt the CPGs to robotic systems that perform one-leg movement, with the objective of figuring out optimal walking gaits.
Keywords - Central Pattern Generators, Test Bench, one leg, Bifurcation and Stability analysis, optimizing gait generation.