Journal
NONLINEAR DYNAMICS
Volume 62, Issue 1-2, Pages 27-37Publisher
SPRINGER
DOI: 10.1007/s11071-010-9696-4
Keywords
Central pattern generators; Locomotion; Fractional; Symmetry; Bifurcation
Categories
Funding
- Fundacao para a Ciencia e a Tecnologia (FCT) through the Centro de Matematica da Universidade do Porto
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Locomotion has been a major research issue in the last few years. Many models for the locomotion rhythms of quadrupeds, hexapods, bipeds and other animals have been proposed. This study has also been extended to the control of rhythmic movements of adaptive legged robots. In this paper, we consider a fractional version of a central pattern generator (CPG) model for locomotion in bipeds. A fractional derivative D (alpha) f(x), with alpha non-integer, is a generalization of the concept of an integer derivative, where alpha=1. The integer CPG model has been proposed by Golubitsky, Stewart, Buono and Collins, and studied later by Pinto and Golubitsky. It is a network of four coupled identical oscillators which has dihedral symmetry. We study parameter regions where periodic solutions, identified with legs' rhythms in bipeds, occur, for 0
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