A Fuzzy Control Method based on Central Pattern Generator for QuadrupedRobots

A fuzzy control strategy based on central pattern generator is applied to a quadruped robotmodeled in ROS which is motor-driven. The central pattern generator model is used to generatesignals that will be set values of joint controllers, and the fuzzy adaptive PID algorithm which hasthe ability to adjust PID parameters automatically is applied. Simulation results display theimprovement of control effect adopting fuzzy adaptive PID method.