  Animal locomotion employs different periodic patterns known as animal gaits.
In 1993 Collins and Stewart achieved the characterization in quadrupeds and
bipeds by using permutation symmetries groups which impose constrains in the
locomotion centre called Central Generator Pattern (CGP) in the animal brain.
They modelled the CGP by coupling four non linear oscillators and with the only
change in the coupling it is possible to reproduce all the gaits. In this work
we propose to use coupled chaotic oscillators synchronized with the Pyragas
method not only to characterize the CGP symmetries but also evaluate the time
serie behaviour when the foot is in contact with the ground for futures robotic
applications.
