Research on Bionic Control of Compliant Gait of Multilegged Robot

The challenge of multi-robot motion control finds effective resolution in Central Pattern Generator (CPG)-inspired gait generation. However, the current research landscape concerning the adjustment of oscillator output curve equilibrium positions is relatively restricted. This paper introduces an external compensation control approach, aiming to procure tailored joint control signals for multi-legged robots. It systematically modulates oscillator output curve equilibrium positions to achieve a diverse array of seamless gaits. The approach involves designing the robot's mechanical structure and establishing its 3D model and coordinate system in Simulink. It utilizes a Hopf oscillator network as the fundamental CPG unit, implementing a CPG circular coupling network controller to streamline oscillator count and establish appropriate initial states. The concept of compliant gait is introduced, along with a qualitative metric to assess smoothness. Comprehensive simulations and analysis validate the effectiveness of this approach in adjusting oscillator output curve equilibrium positions. This study holds both theoretical and practical importance, particularly in enhancing gait control for multilegged robots and advancing biomimetics research.