CPG-Based Gait Generator for a Quadruped Robot with Sidewalk and Turning Operations

EasyChair Preprint 8024

Abstract

This article describes the quadruped robot gait generator algorithm based on the cen-tral pattern generator (CPG). The proposed architecture uses CPG as a phase signal generator for each leg, and a mapping function that builds the desired trajectory for the robot feet. The algo-rithm is able to change smoothly and online the gait type, movement direction, frequency, height and length of the stride. In order to test the performance of the algorithm, experiments were carried out both in the simulation and on the real robot. The results show the efficiency of the algorithm and its ease of implementation.

Keyphrases: Central Pattern Generator (CPG), Gait Generator, quadruped robot

@booklet{EasyChair:8024,
  author    = {Vladimir Danilov and Sekou Diane},
  title     = {CPG-Based Gait Generator for a Quadruped Robot with Sidewalk and Turning Operations},
  howpublished = {EasyChair Preprint 8024},
  year      = {EasyChair, 2022}}