1 Rehabilitation Robotics Research Lab., Department of Mechatronics Engineering, University of Tabriz, P.O. Box 5166614761, Tabriz, Iran

2 Department of Mechatronics Engineering, University of Tabriz, P.O. Box 5166614761, Tabriz, Iran


In this paper, we intend to improve the CPG network presented by Pinto et al. based on 4-cell model for bipedal locomotion systems. This model is composed of four coupled identical cells which internal dynamics of each one is described by the Morris-Lecar nonlinear differential equation and the couplings between the cells follow the synaptic type. We exploit an elitist non-dominated sorting genetic algorithm (NSGA II) to find the best set of coupling weights by which the phase differences become optimally close to the ones required for a primary bipedal gait. Thus, we achieve the rhythmic signals associated with four primary bipedal gaits of walk, run, two-legged jump, and two-legged hop. Also, we successfully obtain all secondary gaits corresponding to the bipedal locomotion identified by Pinto et al. from the 4-cell model, by symmetry breaking bifurcations of primary gaits. Particularly, we are able to produce the secondary gait called “hesitation walk” through transition from primary gaits of run and two-legged jump.


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Volume 25, Issue 6
Transactions on Computer Science & Engineering and Electrical Engineering (D)
November and December 2018
Pages 3591-3603