Motion Control of Quadruped Robot Based on Improved CPG Algorithm

摘要

This topic studies the gait control and attitude control of a quadruped robot during flat slope movement. It studies its motion control strategies and methods from the aspects of model construction, gait analysis, and control of the quadruped robot, and conducts simulations. and physical verification to achieve smooth movement of the quadruped robot on a combination of flat and slope ground. First, the generation method of animal rhythmic gait and the mechanism of central pattern generator were studied. The Hopf oscillator was chosen to generate the locomotion gait of the quadruped robot. In addition, four Hopf oscillators are coupled to construct a CPG network, thereby realizing motion gait planning based on CPG network control. Simulation experiments were conducted on the CPG gait control algorithm and slope stability control algorithm. Then, the entire quadruped robot hardware system was built based on the physical platform of SoC FPGA, and the simulation content was experimentally verified. Through the analysis of experimental results, the feasibility of the above motion control method is verified.