Dynamic walking and running of the quadruped using neural oscillator

In the present study we attempt to induce a quadruped robot to walk dynamically on irregular terrain and run on at terrain by using a nervous system model. For dynamic walking on irregular terrain, we employ a control system involving a neural oscillator network, a stretch re ex and a exor re ex. Stable dynamic walking when obstructions to swinging legs are present is made possible by the exor re ex and the crossed extension re ex. A modi cation of the single driving input to the neural oscillator network makes it possible for the robot to walk up a step. For running on at terrain, we combine a spring mechanism and the neural oscillator network. It became clear in this study that the matching of two oscillations by the springmass system and the neural oscillator network is important in enabling the robot to hopping. The present study also shows that entrainment between neural oscillators causes the running gait to change from hopping to bouncing. This nding renders running fairly easy to attain in a bounce gait. It must be noticed that the exible and robust dynamic walking on irregular terrain and the transition of the running gait are realized by the modi cation of a few parameters in the neural oscillator network.