Responsive CPG-Based Locomotion Control for Quadruped Robots

Quadruped robots with flexible movement are gradually replacing traditional mobile robots in many spots. To improve the motion stability and speed of the quadruped robot, this paper presents a responsive gradient CPG (RG-CPG) approach. Specifically, the method introduces a vestibular sensory feedback mechanism into the gradient CPG (central pattern generators) model and uses a differential evolution algorithm to optimize the vestibular sensory feedback parameters. Simulation results show that the movement stability and linear movement velocity of the quadruped robot controlled by RG-CPG are effectively improved, and the quadruped robot can cope with complex terrains. Prototype experiments demonstrate that RG-CPG works for real quadruped robots.