Coordination of the Walking Stick Insect Using a System of Nonlinear Coupled Oscillators
Marvin, Daryl J.
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The area of walking machines is investigated. A design for pattern generator composed of nonlinear coupled oscillators which generates the characteristic gaits of the walking stick insect is presented. A full dynamic model of the walking stick insect is developed, including ground interaction. Furthermore, a method of numerically solving the dynamic equations is described. Next, a control system utilizing the system of nonlinear coupled oscillators is presented. Finally, a numerical/graphical simulation of the walking stick insect is described, and results presented.