Adaptive control of a quadruped robot based on Central Pattern Generators

摘要

Biocybernetics method is developed to solve robot motion control problem in recent years. Biocybernetics method can realize the robot's rhythmic movement by simulating, simplifying and improving rhythmic movement control area of animal. The rhythmic movement has many advantages, such as regular expression form, high stability and adaptability, so it is always used to control the motion of legged robots. Animal's rhythmic movement is controlled by Central Pattern Generators (CPG). This paper designed a general hydraulic quadruped robot platform adopting Matsuoka's CPG model to complete the robot motion intelligent control. Four gaits of quadruped robot were simulated based on this CPG control model and the foot endpoints trajectory planning problems of quadruped robot was analyzed.