Analyses of nonlinear transient phenomena of ergodic cellular automaton central pattern generator

In this study, we design an ergodic cellular automaton central pattern generator (CPG) model. We show that the designed model exhibits a variety of patterns of synchronization to enable gaits of a hexapod robot. Here, we make an analysis of transient phenomena of synchronization patterns induced by time-varying coupling weights, which determine the gaits of a hexapod robot. And we show that the designed model realizes safe transitions. The model is implemented by a field-programmable gate array (FPGA). The designed model is shown to be able to realize basic gaits of hexapod robots.