Bio-inspired central pattern generator for development of Cartesian motor skills for a Quadruped Robot

Central Pattern Generator (CPG) plays a significant role in the generation of diverse and stable gaits patterns for animals as well controlling their locomotion. The main contributions this paper are ability to develop Cartesian motor skills coordinating legs quadruped robot gait adaption its nominal characteristics with CPG approach. Primary, predefined relationship between an excitation signal essential parameters design is programmed. Next, coordinated oscillator's rhythmic by accordingly output diagrams each foot attained. Then, these desirable features such predictive modulation programming event sequences including leg-lifting step length, duration time footstep within gait, coordination swing stance phases all calculated terms different spatio_temporal vectors. Furthermore, novel basis function designed based on consequently, associated spatio-temporal vectors can be inserted it, which caused spanning space possible timing space. planner computed trajectories workspace along movement axes then according footholds feet placement, ZMP (Zero Moment Point) reference trajectory will obtained. Therefore, COG (Center Gravity) designing preview controller desired trajectory. Finally, demonstrate effectiveness proposed algorithm, it implemented both simulation or experimental implementations results compared discussed other references.