Fractional central pattern generators for bipedal locomotion

Carla M. A. Pinto (1) , J. A. Tenreiro Machado (2)

1 CMUP - Centro de Matemática - Universidade do Porto
2 Department of Electrical Engineering

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.

Mots clés: Bifurcation; Central pattern generators; Locomotion; Fractional; Symmetry

Carla M. A. Pinto, J. A. Tenreiro Machado. Fractional central pattern generators for bipedal locomotion. Nonlinear Dynamics, 2010, 62 (1-2), pp.27-37. ⟨10.1007/s11071-010-9696-4⟩. ⟨hal-00582637⟩