Gait Conversion of Quadruped Bionic Robot Based on CPG Control

Gait control is one of the difficulties in motion control of quadruped bionic robots. In this paper, the Hopf harmonic oscillator is used to generate the gait control signal, and then the network topology of the inter-foot coordination control is established. Secondly, the gait conversion of the quadruped bionic robot is realized by changing the connection weight matrix of the CPG network. Finally, the simulation of oscillation signal is generated by MATLAB software to verify effectiveness of the gait switching of the quadruped robot. The simulation results show that the oscillating signal can easily produce breakpoints at the switching position when it is adjusted in non-integral period. When gait switching is performed on the quadruped bionic robot, the breakpoint should be avoided as much as possible, because the existence of the breakpoint has a certain influence on the stability of the robot.