Locomotion Control of Quadruped Robot Based on Central Pattern Generators

Abstract:

Central pattern generator (CPG) plays an important role in rhythmic motion of animals and is available for biological motion control studies of robots.In this paper,by using Kimura neuron oscillators,a distributed CPG control network is constructed to realize the locomotion control of quadruped robot AIBO.The parameters of the network are adjusted by multi-object genetic algorithm (MOGA) and an animal-like walking gait of AIBO can be realized.Both simulations in Webots and experiments on real AIBO validate the feasibility and efficiency of the constructed CPG control network.

Key words:central pattern generator (CPG); kimura neuron oscillator; locomotion control; multi-object genetic algorithm (MOGA)