Locomotion control of seven-link robot with CPG-ZMP

For the Central Pattern Generation (CPG) method, it is difficult to coordinate each Degree of Freedom (DoF) of a robot by modulating the parameters of neutral network to realize stable walking. The Zero Moment Point (ZMP) method is popular in the stability control of biped robot walking. However, the reference trajectories have low energy efficiency, lack naturalness and require significant offline calculation. This paper designs a method for biped walking using a hybrid CPG-ZMP control algorithm, which can realize a stable walking pattern by combing the ZMP information with rhythmic motion control. Also, the hybrid CPG-ZMP control algorithm is elaborated systematically from the aspects of CPG model, CPG network construction and feedback for a planar seven-link robot. The simulation results show that the hybrid CPG-ZMP algorithm enhances the stability of biped robot, and the control system can generate adaptive walking patterns through the interaction among the robot, CPG and environment.