Research on gait planning of artificial leg based on central pattern generator

Abstract

Biped robot with heterogeneous legs (BRHL) is a novel robot model, which consists of an artificial leg and an intelligent bionic leg. The artificial leg is used to simulate the amputeepsilas healthy leg and the bionic leg works as the intelligent artificial limb. To describe the present gait of the healthy leg and make intelligent bionic leg follow the walking of artificial leg in all phases is the target of BRHLpsilas research. So gait planning of artificial leg is the emphasis of BRHLpsilas research. This paper uses the model of central pattern generator (CPG) in the research of artificial legpsilas gait planning from the point of biology. To obtain natural and robust walking pattern, genetic algorithm is used to optimize parameters of the CPG network model and the fitness function is formulated based on zero moment point (ZMP). Simulation results testify the feasibility of this method.