Adaptive walking control for quadruped robot with CPG network using motor dynamics

Abstract

In this paper, we propose a CPG (Central pattern generator) control system by using motor dynamics for the gait planning of the quadruped robot. The CPG model, which includes two DC motors model, has a capability to generate the regular joint angle with complex parameters. CPG unit can generate the stable signal, by using the limit cycle method evaluation. We can change the value of CPG parameters to vary the output of the CPG network. Parameters of CPG networks can be changed to adjust gait patterns of the quadruped robot by using body angle to recognize the information of the environment. To prove the CPG control system, a quadruped robot is designed in simulation environment for the adaptive moving mission on the complex surface.