Based on Matsuoka＇s central pattern generator （CPG） model and taking quadruped as an example, the dynamics of CPG model was investigated through the single-parameter-analysis method and the numerical simulation tec...Based on Matsuoka＇s central pattern generator （CPG） model and taking quadruped as an example, the dynamics of CPG model was investigated through the single-parameter-analysis method and the numerical simulation technique. Simulation results indicate that the CPG model exhibits complex dynamics, while each parameter has specifically definitive influence trends on the CPG output. These conclusions were applied to control a quadrupedal robot to walk in different gaits, clear obstacle, and walk up- and down-slope successfully.展开更多
文摘Based on Matsuoka＇s central pattern generator （CPG） model and taking quadruped as an example, the dynamics of CPG model was investigated through the single-parameter-analysis method and the numerical simulation technique. Simulation results indicate that the CPG model exhibits complex dynamics, while each parameter has specifically definitive influence trends on the CPG output. These conclusions were applied to control a quadrupedal robot to walk in different gaits, clear obstacle, and walk up- and down-slope successfully.
