Design of Synthetic Central Pattern Generators Producing Desired Quadruped Gaits

This paper is concerned with a method for design and analysis of specific neuronal networks, called central pattern generators (CPGs), which produce primary rhythmic patterns in animals. In particular, the paper is focused on synthetic CPGs made up of few basic elements and governing quadrupeds' gaits and gait transitions, under the control of an external drive. The method combines the principles of bifurcation theory, geometric properties of symmetry, and numerical analysis based on the recently proposed toolbox CEPAGE. The method is applied to two CPGs, one bio-inspired and one purely synthetic. In both the cases, the method provides a way to obtain a desired sequence of gaits by continuously changing a bifurcation parameter related to the external drive