Research On Hexapod Robot Motion Control Based On CPG

In recent years, bionic control has attracted wide attention in the field of robot control. Biological research has proven that the operation of rhythmic movement, such as walking, run, swim, fly, etc. basic forms are generated and controlled by the spinal cord or abdominal ganglia central pattern generator(CPG). At present, there are many defects on the research on CPG control. Thus there is broad space for development and significant meaning on this research. In this paper, based on effective analysis of the study of robot kinematics and CPG gait control algorithms, a multi-legged coordinated control strategy of hexapod robot was developed and detailed discussion from theory to experiment was described.On the analysis for research status of the multi-legged robots and the control method at home and abroad, the central pattern generator was decided to adapt for hexapod robot motion control. The gait parameters of hexapod robot and its typical gait was introduced, the structure of hexapod robot overall analysis was carried out, the kinematics study of one leg of hexapod robot was achieved, and the trajectory of the foot end was planned. To provide control movement of the joints, each joint angle was conducted with inverse kinematics.The basics of robot CPG control was described, Matsuoka oscillator was used as CPG control model, a single neuron based the nonlinear oscillator model was designed, parameters characteristics of the CPG model were studied and analyzed to obtain the parameters of the robot's CPG model after tuning. The model of gait control based on CPG was designed for the hexapod robot, and CPG network was built. Using the CPG algorithm combined with the joint mapping function, coordination of movement was achieved.The hexapod robot simulation system was established in ADAMS and MATLAB /Simulink. According to the multi-legged coordinated control strategy of hexapod robot, the tripod-gait simulation of robot was achieved. For the experiment results, rhythmic movement of walking was carry out, each foot of the robot and each joint achieved coordinated movement, and reliable performance and mechanical properties was verified. Experiments have shown that the control model based on CPG can meet mission requirements of hexapod robot rhythmic movement, the theoretical and experiments basis was laid for the subsequent more in-depth and meticulous research.