2P1-H01 Quadruped Locomotion Based on CPG Control That Enables Well-balanced Coupling between Inter- and Intra-limb Coordination(Mobiligence)

Abstract

Quadrupeds exhibit adaptive locomotion by self-organizing the inter- and intra-limb coordination. This paper describes a decentralized control scheme that enables well-balanced coupling between inter- and intra-limb coordination for quadruped locomotion. Simulation results show that our proposed control scheme enables the robot to achieve smooth gait transition between walking and running.