An improved stable motion control method for quadruped robot based on CPG and VMC

The gait control of a quadruped robot is the key to the robot's movement in complex terrain. In order to realize the stable motion of the quadruped robot on special terrains such as slopes, the hopf oscillator is used as the central mode generator to control the gait of the quadruped robot. The output of the oscillator is converted into the trajectory of the foot, the trajectory of the foot is adjusted by sensory feedback, the gait phase is switched by detecting the pressure of the foot, and the virtual model is used to control the movement of the foot along the given trajectory to achieve Stable motion of a quadruped robot. The simulated quadruped robot is built on the WEBOTS platform and verified by experiments. The results show that the improved gait controller can achieve smooth and compliant motion for the quadruped robot on flat ground and slopes.