Simple locomotion solution

The goal is to create a model of the concept of Central Pattern Generators for the locomotion of a quadruped robot.
The design of the CPG is based on the approach of attractor dynamics and nonlinear oscillators due to its characteristics.

This solution uses eight coupled nonlinear dynamical systems in order to generate the trajectories for the hips and knees of a quadruped robot.

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Project status: 
Past or closed project
Simple aibo locomotion4.58 MB