Motion Control of a Gecko-like Robot Based on a Central Pattern Generator

To solve the problem of the motion control of gecko-like robots in complex environments, a central pattern generator (CPG) network model of motion control was designed. The CPG oscillation model was first constructed using a sinusoidal function, resulting in stable rhythm control signals for each joint of the gecko-like robot. Subsequently, the gecko-like robot successfully walked, crossed obstacles and climbed steps in the vertical plane, based on stable rhythm control signals. Both simulations and experiments validating the feasibility of the proposed CPG motion control model are presented.

Automated summary

A central pattern generator (CPG) network model was designed to solve the motion control problem of gecko-like robots in complex environments, providing stable rhythm control signals for each joint using a sinusoidal function. The gecko-like robot successfully walked, crossed obstacles, and climbed steps in the vertical plane based on these stable rhythm control signals. Both simulations and experiments validated the feasibility of the proposed CPG motion control model.