1. 人間の二足歩行モデルにおけるシミュレーション
翁　武淋
数理学府
研究成果報告会
２０１３．７．２９

2. Conceptual diagram of walking model
CPG
Limit Cycle
Activate
Inhibit
Limit Cycle
BODY
Activity of CPG and Body has stability of limit cycle. (Ohgane,Ei,Mahara,2009)

3. CPG
BODY

4. BVP Equation(limit cycle )
CPG：
BODY：
Newton-Euler Equation

5. The simulation results of walking model
Ohgane,Ei,Mahara,2009
the period
when , the phase of CPG shifted ahead of body;
besides, this phase shift increases in proportion to the increase of

6. Problem system Van der Pol
The mechanism for causing a very stable walking is limit cycle of CPG activity. The study direct toward its confirmation by replacing description of the CPG with other limit cycle oscillators.
system
Van der Pol

7. system

8. Van der Pol oscillator