FIGURE 12.

(A) The locomotion model can generate dynamic gait pattern by giving different speed stimulation. It shows there are five different known gait patterns from slow speed to high speed. The CPG model can generate a dynamic gait pattern through differing speed stimulation S _STIM. This increases the frequency of the CPG outputs x of five different known gait patterns from slow speed to high speed. Parameter F _HR , F _FR , F _HL , F _FL shows the ground reaction force for every limb. (B) The generated gait patterns in malfunction conditions and the speed stimulation responses. The signal pattern p is changing to respond to the absence of CPG signals. The time phase decreases after a leg is injured. The malfunction of the right forelimb (N _FL = 1) is at time step 1380. During injury, the model tends to generate a pattern with the same phase difference at a lower speed. At high speeds, left and right hindlimbs feature the same phase. (C) malfunction of the left hindlimb at time step 1400. In this condition, the left and right forelimbs feature the same phase at a higher speed.