Center of gravity balance approach based on CPG algorithm for locomotion control of a quadruped robot

The research area of bio-inspired control methods for multi-legged robots and reptile robots has made significant development with the use of central pattern generators (CPGs) in recent years. However, there are still many problems to be solved to learn clearly the structure of CPG to adapt it to different frameworks and applications. One is that the exiting CPGs are almost only can be used to a special kind of robots. In this article, we present an improved method of constructing CPGs. The phase difference between the neurons which constitute the CPGs can be set to a random numeric number to fulfill different frameworks and applications. And also we use this kind of CPGs to successfully solve the problem which the quadruped robot can't lift it hind limbs from the ground during a walk gait locomotion.