A chopper-type mixed gait controller based on ergodic cellular automaton central pattern generator

Here, we designed an extended ergodic cellular automaton model of a central pattern generator. The designed model is able to synthesize the phenomena of synchronization, which is able to realize standard gaits of a quadruped robot. We show that the mixing of the coupling matrices on the basis of the chopper-like method has the following properties, the designed model is able to achieve mixed gaits for the quadruped robot based on the matrix ratios in the chopper.