Quadruped robot based on biological central pattern generator

摘要

Traditional artificially-planed gaits are rigid, slow, and lack self-organization ability, unlike real animal's gaits. A robotic bio-gait was developed for a quadruped robot based on a biological central pattern generator. The robots motion-controlling system related the bio-gait to the pattern generator weight matrix of net. Typical quadruped gaits were produced by using different weight matrixes. The motions of the knee and hip were based on a mammal's leg motions. Simulation results show that pattern generator based robotic rhythmic motion-control effectively produces robotic bio-gait.