A Theory on Autonomous Distributed Systems with Application to a Gait Pattern Generator of Quadruped

This paper considers a synthesis approach to autonomous distributed systems in which the functional order of the entire system is generated by cooperative interaction among its subsystems, each of which has the autonomy to control a part of the state of the system, and its application to pattern generators of animal locomotion. First, biological locomotory rhythms and their generators, and gait patterns of quadrupeds, are reviewed briefly. Then, a design principle for autonomous coordination of many oscillators is proposed. Using these results, a gait pattern generator is synthesized. Finally, it is shown using computer simulations that the proposed systems generate desirable patterns.