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Dynamic properties of VDP-CPG model in rhythmic movement with delay

Liqin Liu Chunrui Zhang

*Corresponding author: Chunrui Zhang math@nefu.edu.cn


In this paper, Van Der Pol (VDP) oscillators are used as the output signal of central pattern generator (CPG), and a VDP-CPG network system of quadruped with four primary gaits (walk, trot, pace and bound) is established. The existence conditions of Hopf bifurcations for VDP-CPG systems corresponding to four primary gaits are given, and the coupling strength ranges between oscillators for four gaits are obtained. Numerical simulations are used to support theoretical analysis.

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