Robot foot trajectory planning based on central pattern generator / 中国医学物理学杂志

ABSTRACT

A foot trajectory control method is proposed for biomimetic robot.Compared with traditional methods,the method uses a single CPG neuron to directly apply the foot trajectory generated by the oscillator to the hexapod robot.The joint angles is solved reversely for realizing the rhythmic foot swing,thereby achieving lateral walking.The step distance and step amplitude in foot trajectory,and the forward and backward swing trajectories during the swing phase can be adjusted by setting the load factor,period,amplitude and other parameters in the CPG oscillator.The feasibility of applying the improved Hopf model to foot trajectory is verified through the joint simulation using Matlab and Coppeliasim.Compared with traditional methods,the improved model has high flexibility in parameter adjustment and performs well in concurrency processing.