抄録
In this paper, an adaptive gait control system for a quadruped robot traversing over irregular terrain with an intermittent crawl pattern using central pattern generator (CPG) networks with motor dynamics is proposed. We develop a new CPG model, in which the inhibitory and excitatory neurons are replaced by two DC motors that drive the joints of the legs directly. The DC motor functions not only as an actuator but also as a component of the CPG model. Four CPG models are mutually connected to each other to control the joints of each leg. Through the adoption of the concept of the center of gravity (COG), the parameters of CPG units can be varied to adjust the period and amplitude of CPG units to realize the intermittent crawl pattern. Using the plural parameters information, CPG units can change the angle range of joints to control the COG in the stable region when the robot walks on irregular terrain without the need for the superfluous calculation of dynamic. Through the experimental results, we confirm that the robot can realize adaptive and stable walking on irregular terrain by using the proposed CPG control system with the signals from the environment.
