Minimalist CPG Model for Inter- and Intra-limb Coordination in Bipedal Locomotion

  • Dai Owaki
  • Takeshi Kano
  • Atsushi Tero
  • Masakazu Akiyama
  • Akio Ishiguro
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 194)


Inter- and intra-limb coordination for bipedal locomotion were numerically investigated using a “minimalist” bipedal robot model and an unconventional central pattern generator (CPG)-based control scheme that exploits local sensory feedback generated from the discrepancy between the control system, mechanical system, and environment. The simulation results showed that a bipedal robot controlled by the proposed controller exhibits walking and running gaits dependent only on one parameter: the angular velocity of the oscillators. Interestingly, spontaneous inter- and intra-limb coordination were found to be inherent to the proposed design scheme for stable bipedal locomotion. These findings are expected to lead to a useful methodology for robots to generate stable and adaptive locomotion.


bipedal locomotion inter- and intra-limb coordination discrepancy 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Dai Owaki
    • 1
  • Takeshi Kano
    • 1
  • Atsushi Tero
    • 2
  • Masakazu Akiyama
    • 2
  • Akio Ishiguro
    • 1
    • 3
  1. 1.Research Institute of Electrical CommunicationTohoku UniversitySendaiJapan
  2. 2.Institute of Mathematics for IndustryKyushu UniversityFukuokaJapan
  3. 3.CREST (Core Research for Evolutional Science)Japan Science and Technology AgencyTokyoJapan

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