抄録
In this paper, an adaptive walking control system for a quadruped robot with CPG networks is proposed. A control strategy for recognizing the angle of slope is designed by using CPG concepts. Several groups of CPG parameters can be used to generate adaptive signals for moving on irregular terrain which include flat surface, down- up slope with different angles, respectively. The simulation results demonstrate the stability of oscillators of the CPG and the validity of control strategy. By using this control system, the robot can realize an adaptive and stable walking on irregular terrain with different slope angles from -20 deg. to 25 deg.
