Central pattern generator based crawl gait control for quadruped robot

In order to realize the coordinating and stable gait control for quadruped robot, this paper presents a hierarchical distributed controller structure of CPG by studying CPG-based gait control. The two output modes of the CPG network based on Kimura model are compared, and the waveform characteristics under different parameters and its effect in the practical application on gait are analyzed. Using neuron state output model to build the network connection between the CPG and joint oscillator and quadruped robot rhythmic crawl gait is realized with mapping function. Experiment results show that the controller structure can achieve coordinating crawl gait for quadruped robot and has a good control stability.