Adaptive walking control using CPG network for quadruped robot with bi-articular muscles model

In this paper, we propose the adaptive walking control system by using CPG networks for the quadruped robot with bi-articular muscle models. Parameters of CPG networks can be changed to adjust gait patterns of the quadruped robot by using internal feedback information. To confirm the validity of the proposed control system, we conduct several simulations of an adaptive walking on the irregular terrain by solving dynamic equations of the quadruped robot model, and demonstrate the usefulness of the proposed control system and implementation of bi-articular muscle models based on simulation results.