Generation of Adaptive Gait Patterns for Quadruped Robot Using CPG Network

摘要

This paper describes the generation of adaptive gait patterns for a quadruped robot using central pattern generators (CPGs). A new CPG model, in which the dynamics of a joint servomotor is incorporated, is proposed and used to generate the periodical oscillation of the joint angle. The CPGs are mutually connected with each other through coupling parameters. The sets of coupling parameters are adjusted by a genetic algorithm (GA) so that the quadruped robot can realize stable and suitable gait patterns by interacting adaptively with the environment. Some experimental results obtained using a quadruped robot demonstrate that the proposed CPG network is effective in generating suitable gait patterns.