Central Pattern Generators for Locomotion Control in Hexapod Robot Legs

Aiming at the problem of mutual repulsion caused by the trajectory of the foot end swinging around the respective heel joint as an arc during the forward process of the hexapod robot. Based on the central pattern generator (CPG) control method, leg kinematics are added to become an online foot trajectory generator. First, establish the kinematic model of the hexapod robot leg; Secondly, adopt hopf oscillator motion control network model; Then, use CPG combined with kinematics equations to generate an online foot trajectory generator, realize that the trajectory of the legs on both sides is parallel to each other when they are in the supporting phase. Finally, simulation and experimental research verify the feasibility of the proposed method.