Slope Terrain Locomotion Control of a Quadruped Robot Based on Biological Reflex CPG Model

Inspired by the neuronal principles underlying the tetrapod locomotion, this paper proposed a biomimetic vestibular reflex central pattern generator(CPG) model to improve motion performance and terrain adaptive ability of a quadruped robot in complex situations, which is on the basis of central pattern generator (CPG)model constructed by modified Hopf oscillators. The presented reflex model was modified in the light of the particular joint configuration of the quadruped robot and the trot gait pattern. Focusing on slop locomotion of the quadruped robot with trot gaits, the co-simulations of the ADAMS virtual prototype, CPG mathematical expressions with vestibular reflex and Simulink control model were conducted. The simulation results demonstrated that the presented CPG controller with vestibular reflex was more efficient and stable for the quadruped robot trotting on slopes, compared with the different trotting control models. © 2018 Editorial Department of Journal of Beijing Institute of Technology .