A Pulse-Type Hardware CPG Model for Generation and Transition of Quadruped Locomotion Pattern

The purpose of our research is to clarify information processing functions of living organisms by neural networks using pulse-type hardware neuron models and applying pulse-type hardware neural networks to engineered models. It is known that locomotion such as walking by a living organism is generated and transited by CPG (Central Pattern Generator) in the central nervous system. We investigate a pulse-type hardware CPG model using coupled oscillator composed of pulse-type hardware neuron models. A CPG model is need to generate and control quadruped locomotion. In this paper, we describe generation and transition of oscillation patterns, corresponding to quadruped locomotion patterns. As a result, it is shown that generation and transition of oscillation patterns are possible by giving external inputs of one pulse to the CPG model.