Node-wise monotone barrier coupling law for central pattern generation

Abstract

With the aim of providing new insights into the mechanisms behind the emergence of collective behaviors via nonlinear coupling, we propose a node-wise monotone barrier coupling law that imitates the behavior and beneficial properties of neural central pattern generators (CPGs). In particular, the coupling law 1) allows us to assign multiple central patterns on the circle and 2) allows for rapid switching between different patterns via simple 'kicks'. In the end, we achieve full control by partitioning the state space by utilizing a barrier effect and assigning unique steady-state behaviors to each element of the resulting partition. We analyze the global behavior and study the viability of the design.