The Design of CPG Control Module of the Bionic Mechanical Crab

Abstract

Based on the anatomy fact that the rhythmic motor pattern is controlled by CPG function modular, the conception of CPG control in multi-legged gait is presented. A CPG model for machine crab's octopod gait control is made by adopting the neuron oscillator, and some gaits are generated using this model by simulation. Simulation result proved that the constructed CPG model can be used as gait generation and control module of crab-liked biologically inspired robot.