The Inspiration for the Motion Control of Robot from Central Pattern Generator of Animal's Locomotion Instruction

摘要

Central pattern generator(CPG) of animal's locomotion instruction plays an important role in the rhythmic motion of animal,and it can be used as a reference for the research of the bionic control method of robot.Firstly,the nervous circuit and control mechanism of CPG are introduced in this paper,and then the classic mathematical model of the nonlinear oscillator which constitute CPG is analyzed,the development status at home and abroad of the motion control of robot based on CPG is introduced.At last,the application prospect is provided.