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ABSTRACT:
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We present the first circuit realization of an animal
(quadruped)
robot controlled by a Central Pattern Generator (CPG) network
of neurons, whose model and design are biologically-inspired by
symmetry-based, group-theoretical, methods. We demonstrate that
the electronic CPG and the animal robot can indeed reproduce, via
symmetry-breaking Hopf bifurcations, all primary
gaits---walk,
jump, trot, bound, pace, and pronk---just as they
were originally
predicted by theory.
Also, we will report on the progress of other symmetry-related
projects that include: multi-frequency oscillations, dynamic
sensors, and flame patterns. These works are joint projects
between the Nonlinear Dynamical Systems Group at SDSU and the
Applied Dynamics and Chaos Program at SPAWAR.
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