Quadruped Locomotion Based on Central Pattern Generators and Reflexes

摘要

Biological evidences showed that locomotion in animals is generated at the spinal cord by a combination of Central Pattern Generators (CPGs) and reflexes. Therefore, the development of bio-inspired controllers seems to be a good and robust way to obtain an efficient and robust robotic locomotion, mimicking their biological counterparts. We present an hybrid controller that generates locomotion through the combination of CPGs and reflexes. This combination is innovative since CPGs are used as predictors of the motor actions that would be generated by reflexes and, therefore, they are able to compensate for disturbances, sensor noise and delays. The results show that the hybrid controller is capable of producing stable quadruped locomotion with a regular stepping pattern.