The Hardware CPG Model for Humanoid Robot HOAP2

In recent years, the development of humanoid robots is advancing rapidly. Development of robots, which are learning, is being widely improved, for example robots, which can work in harmony with humans. However, for the humanoid robot’s information processing system to simulate a human being’s brain function, research in neural networking must be greatly advanced. We are researching to control robots using pulse-type hardware neuron model modeling the pulse form of an actual human brain. In this paper, we propose the hardware CPG (Central Pattern Generator) model using software for humanoid robot HOAP2. We clarify the stability in the step movement by using the hardware CPG model.