Elbori,A.Turan,M.Arikan,K.B.Department of Mechatronics EngineeringMathematics2024-10-062024-10-06201811454-8658[SCOPUS-DOI-BELIRLENECEK-96]2-s2.0-85053699496https://hdl.handle.net/20.500.14411/9494With regard to the optimization of Central Pattern Generators (CPGs) for bipedal locomotion in robots, this paper investigates how the different cases of CPGs such as uncoupled, unidirectional, bidirectional two CPGs are used to produce rhythmic patterns for one leg with two degrees of freedom (DOF). This paper also discusses the stability analysis of CPGs and attempts to utilize genetic algorithms with the hybrid function and adapts the CPGs to robotic systems that perform one-leg movement, by utilizing the bidirectional two CPGs. The results show far greater improvement than in the other cases. CPGs not only enhance movement but also control locomotion without any sensory feedback. © 2018 Control Engineering and Applied Informatics Journal.eninfo:eu-repo/semantics/closedAccessA strategy to couple CPGsCentral Patterns Generators (CPGs)One leg modelOptimizing CPGsStability analysisArticleQ4Q32038998