METHOD FOR CONSTRUCTING CPG CONTROL NETWORK OF QUADRUPED ROBOT, AND METHODS FOR TUNING AND OPTIMIZING PARAMETER OF CPG CONTROL NETWORK OF QUADRUPED ROBOT

摘要

A method for constructing a CPG control network of a quadruped robot, and methods for tuning and optimizing parameters of a CPG control network of a quadruped robot. The method for optimizing parameters of a CPG control network of a quadruped robot comprises the following steps: dividing a CPG control network into four oscillation units used to control a hip joint, each oscillation unit consisting of two mutually inhibitory neurons. The method realizes symmetry and reasonable control of phase relations of hip joint control signals in the movement process of a miniature quadruped robot. The invention simplifies a system of original differential equations for CPG control into a system of difference equations, optimizes parameters in a CPG control network, reduces complexity of the CPG control network, and increases a parameter tuning speed, thereby constructing a high-speed and stable CPG network capable of controlling an amplitude and a frequency of an output signal.