Blended CPG and Independent Foot Trajectory Planning for Quadruped Robot

With the development of society and science, quadruped robot has been researched and used in security patrols, logistics sorting, logistics distribution, and working in harsh environment for the low cost and its strong flexibility. The gait planning is the most direct manifestation of the movement ability and performance of the quadruped robot, which requires the robot's gait to have high coordination and stability. The Central Pattern Generator (CPG) can generate simple harmonic rhythmic motion of specific joints like humans or other organisms, but the traditional CPG control method has some defects, such as the inability to change the trajectory characteristics, the high coupling of trajectory parameters, and the inability to complete the spanning phase planning, etc. In this paper, an independent foot trajectory planning method is proposed. The foot trajectory is independently designed and planned in the task space, which can meet more customized requirements, and its parameters are decoupled which means the adjustment is more flexible. The locomotion control of the manufactured robot is carried out by the traditional CPG and the control method that integrates the CPG and the independent foot trajectory planning respectively, and it is demonstrated that the new method has the characteristic that allows more complex control of quadruped robot.