Gait Pattern Stabilization using Central Pattern Generator with Foothold Force Optimization for Quadruped Robots

摘要

We introduce a unique central pattern generator (CPG) that can synchronize the phases of the legs on quadruped robots without interfering with their oscillation and use it as an alternative to finite state machines in optimal controllers. For all we know, this is the first ever attempt to combine a CPG and an optimal controller in quadruped robots. The proposed central pattern generator is able to eliminate disturbances in gait patterns and maintain the support polygon for the optimal controller to stabilize the robot. With the advantage of both sides, the robot is able to sufficiently increase the chance of passing through randomly generated terrains compared to the robot without any interlimb coordination in simulations.