Design of Quadruped Robot Based CPG and Fuzzy Neural Network

摘要

The paper proposed a method for a quadruped robot control system based central pattern generator (CPG) and fuzzy neural networks (FNN). The common approach for the control of a quadruped robot includes two methods mainly. One is the CPG that is based the bionics, the other is the dynamic control that is based the model of quadruped robot. The control result of CPG is decided by the gait data of the quadruped and the parameters of the CPG are choosing manually. Modeling a quadruped robot is difficult because it is a high nonlinear system. This paper presents a much simpler method for the control of a quadruped robot. A simple CPG is adopted for a timing oscillator; it generates the motion periodic pattern of legs. The FNN is used to control the joint motion in order to get a desired stable trajectory motion.