Synthesis of CPG Based Motion Control Methods for Humanoid Robots

摘要

This paper mainly focuses on the application of CPG based motion control methods for humanoid robots. Firstly, motion control problems of humanoid robots are discussed, and the difference between traditional methods and CPG based methods is pointed out. Then, the biological essence and basic idea of the CPG based control methods are analyzed, and several critical problems of the application of the methods are studied in detail. Finally, the status in quo of the methods is synthesized.