Bionic motion control research of hydraulic quadruped robot

The animal's rhythmic movement has many advantages, such as regular expression form, high stability and adaptability, so it is well suited to control the motion of legged robots. In view of the problem of coordinated control, a kind of motion control method was designed based on the central pattern generator (CPG) by studying, improving and simulating for the neurological theory and rhythmic motion of higher mammal, and the Matsuoka oscillation neuron model was used to build the complete CPG control network of quadruped robot. Producing the different phase rhythmic motion signals by self-excited behavior and controlling the actuators to perform corresponding actions, the generation and transformation of a series of typical motion gaits and foot trajectories were realized. This method has solved the problem of coordinated motion control effectively, and has improved the motion ability and adaptability in the complex environment.