Coupled oscillators utilised as gait rhythm generators of a two-legged walking machine

The gait of current two-legged walking machines differs from that of humans, although the kinematic structures of these machines' legs frequently imitate human limbs. This paper presents a method of generating the trajectories of hip and knee joint angles resulting in a gait pattern similar to that of a human. For this purpose the solutions of coupled van der Pol oscillator equations are utilised. There is much evidence that these equations can be treated as a good model of the central pattern generator generating functional (also locomotional) rhythms in living creatures. The oscillator equations are solved by numerical integration. The method of changing the type of gait by changing appropriate parameter values in the oscillator equations is presented (change of velocity and trajectory of leg-ends). The results obtained enable enhanced control of twolegged walking systems by including gait pattern generators which will assume a similar role to that of biological generators.