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In this paper, we develop a simple bipedal locomotion algorithm based on biological concepts. The algorithm utilized a central pattern generator (CPG) composed of four coupled neural oscillators (NO) to generate control signal for the bipedal robot. Feedbacks from the robot dynamics and the environment are used to update the CPG online. Our algorithm is then tested on a seven link model of bipedal robot. Simulation results suggest the proposed CPG can generate a smooth and continuous walking pattern for the robot.