Control of the quadruped robot using simple CPG network

Abstract

This paper proposes a new approach to control the quadruped walking robot based on biological concepts. The quadruped robot was designed which has a couple of advantages of flexible locomotion. The full biological concepts are considered to design quadruped walking robot. It includes simplified mechanical design and simplified central pattern generators (CPG) network. In this paper, a neural oscillator model with three segments of animal legs is obtained. Based on the neural oscillator model, a simple central pattern generator controller for knee joint and a PID controller for hip joint are proposed.