Phase transition of quadruped robot based on the two-level CPG

摘要

Inspired by the hierarchical structure of Central Pattern Generator (CPG) which is located in the spinal cord, we proposed a two-level CPG model for controlling the gait transition of quadruped robot. It can smooth control the transition of rhythm and phase difference by limit cycle and lock the phase difference between legs by the network of phase oscillator in the RG level. The two transitional gaits are further added to enhance the coherence and stability of transition. The transition of gaits based on the velocity command and the local adjustment in the same gait are realized by the relationship between duty factor, intrinsic frequency and velocity. Finally, using the two-level CPG model given in this study, we can generate different gaits and realize the smooth gait transitions as a velocity control mechanism. The simulation results show the feasibility of our method.