Implementation of a central pattern generator for the control of legged robots

This paper proposes a modeling for articulated robots based in an adaptation of the Kuramotos model. In order to simplify and help new people interested in work with it, mathematical models were made for the differential equations of first and second order from these. The modeling of this problem was based on computational modeling for solving ordinary differential equations. Among the available methods, we used Eulers method. From the mathematical modeling, we used our results to realize three experiments with the movements of the articulated robot. The three experiments gave us satisfactory results. All the movements that were passed on as parameters were realized by the robot as we expected.