The CPG-based bionic quadruped system

Abstract

For walking machine, its motion performance can be enhanced evidently and effectively by biocybernetics-based approach. Since animals commonly act by rhythmic movement, and the rhythmic movement signal is generated by Central Pattern Generator (CPG) in its body. In this paper, we designed a bionic quadruped system, including its machine structure and control system, based on the studying of the CPG mechanism, the structure of rhythmic movement control network and the CPG differential equation model. The quadruped we completed have manifold bionic functions: walking on flat ground with four typical gaits (walk, pace, trot, gallop), changing its gait smoothly and leg configuration styles; and some advanced functions such as climbing a slope and overcoming an obstacle, etc. is in the process of experiments.