In this study, a coupled pattern generator is used to achieve rhythmic gait movements by a planar five-link musculoskeletal biped model. In particular, five coupled oscillators are designed which provide the biped with the desired joint angles while a controller tracks the specified trajectories. The system is adaptive in that a high-level parameter controller can adjust the parameters of the pattern generator to change the frequency of the desired joint trajectories. Simulations show the biped walking while changing frequency of the gait as its joint angles track the pattern generator.

Rhythmic movements of a five-link sagittal biped with muscle-like actuators are considered. In walking contact is periodically made with the environment as the support phases change. The inputs to every actuator are modeled after the inputs to muscles in mammals. The system possesses intrinsic position and velocity feedback due to the actuator dynamics. A control strategy is articulated that is novel in that (a) it is physiologically viable, (b) it simplifies the dynamics, and (c) it adapts to speed of walking, going up and down stairs, going up or dozen inclines, maneuvering above obstacles or holes, and the tempo and stride length of walking. Simulations of the walk of a five-link sagittal biped are presented.