Research on a central pattern generator bionic coupling control system of robot

Animal´s walking is a complex rhythmic motion that has good celerity, adaptability and stability. Walking is controlled and harmonized by the animal´s nerve-muscle control system. The joints are coupling during walking and are regulated by the nerve center. Based on this mechanism, a concept of bionic coupling control system is presented. This system which simulates the integration effect of animal´s nerve consists of a central pattern generator (CPG) planner built based on the three local neurons network model of CPG, a forward path of motorneuron and a feedback path. Finally, a simulative experiment is done on a platform of robot leg, and the coupling control of robot leg is realized by a single CPG.