Adaptive walking control for quadruped robot by using oscillation patterns.

To improve the adaptability of quadruped robot in multiple scenarios, an adaptive locomotive system based on the double-layered central pattern generator (CPG) is proposed. The novel CPG network consists of double master units and subsets of slave units based on gyroscope signals including yaw and pitch angle. The response of master units provides the ability to control the 1st joins of quadruped robot, while slave units can generate the symmetry signals to control the 2nd and 3rd joints.