Synchronization of Non-linear Oscillators for Neurobiologically Inspired Control on a Bionic Parallel Waist of Legged Robot.

Synchronization of coupled non-linear oscillators inspired by a central pattern generator (CPG) can control the bionic robot and promote the coordination and diversity of locomotion. However, for a robot with a strong mutual coupled structure, such neurobiological control is still missing. In this contribution, we present a σ-Hopf harmonic oscillator with decoupled parameters to expand the solution space of the locomotion of the robot.