A neural network model for goat gait

In this paper, our main objective was to investigate the central pattern generator (CPG) neural network model for quadruped gait with time delay. First, we computed the normal form of the model on the center manifold, the bifurcation direction, and stability conditions of the bifurcating periodic solutions. Second, we applied the CPG model for quadruped gait to obtain reference models for goat's diagonal trotting gait on the flat ground and walking gait on the 18 degree slope through the trust region inversion algorithm. Finally, we performed numerical simulations to support theoretical analysis.