Walking control strategy for biped robots based on central pattern generator

摘要

This paper deals with the walking control of biped robots inspired by biological concept of central pattern generator (CPG). A control architecture is proposed with a trajectory generator and a motion engine. The trajectory generator consists of a CoG (center of gravity) trajectory generator and a foot trajectory modulator. The CoG generator generates adaptive CoG trajectories online and the foot trajectories can be modulated based on the generated CoG trajectories. A biped platform NAO is used to validate the proposed locomotion control system. The experimental results confirm the effectiveness of the proposed control architecture.