Feedback control with central pattern generator for decentralized coordination of prototype mechanical rectifier

This paper proposes a prototype mechanical rectifier (PMR) that captures essential dynamics underlying animal locomotion by a simple pendulum-disk configuration. We use the PMR to study the control mechanism of animal locomotion. In particular, we verify via numerical experiments the prediction from biological observations that a central pattern generator (CPG) with a decentralized structure is capable of coordinating the body motion to achieve locomotion with the aid of sensory feedback. The efficiency of locomotion achieved by the decentralized CPG is also investigated in comparison with analytical results we derive for statically optimal locomotion.