Energy-based pattern transition in quadrupedal locomotion with oscillator and mechanical model

The anatomical researches on nerve systems have elucidated that the central pattern generator (CPG) in spinal cord concerns the generation of locomotion pattern. The biomechanics, on the other hands, tells us that the energy expenditure is one of the crucial factors for the pattern selection. Thus it is possible that the energy evaluation has some effects on the CPG. This paper propose the CPG and mechanical model of quadrupeds; the CPG model plans the pattern of locomotion and the mechanical model is used to calculate the energy consumption. The simulation shows the pattern transition based on the energy evaluation