CPG-Based Gait Control Method for Quadruped Robot Jumping Movement

摘要

Research on motion control of quadruped robots based on central pattern generator (CPG) has been relatively mature, but these studies mainly focus on the control of static gait, which limits the obstacle-crossing ability and flexibility of quadruped robots. The jumping movements of quadrupeds in nature are very common. In this paper, based on the observation of the bobcat jumping movement, the jumping movement is decomposed and simplified, and the joint movement law of the jumping gait is obtained. A general machine model of a quadruped robot is given, and the traditional CPG control network is re-coupled according to the action principle of the joint driving curve and the bionics principle to realize the jumping gait control of the quadruped robot based on CPG. Finally, the effectiveness of the method is verified through joint simulation.