Central pattern generators based on Matsuoka oscillators for the locomotion of biped robots

Abstract

Biologically inspired control approaches based on central pattern generators (CPGs) with neural oscillators have been drawing much attention for the purpose of generating rhythmic motion for biped robots with human-like locomotion. This article describes the design of a neural-oscillator-based gait-rhythm generator using a network of Matsuoka oscillators to generate a walking pattern for biped robots. This includes the proper consideration of the oscillator’s parameters, such as a time constant for the adaptation rate, coupling factors for mutual inhibitory connections, etc., to obtain a stable and desirable response from the network. The article examines the characteristics of a CPG network with six oscillators, and the effect of assigning symmetrical and asymmetrical coupling coefficients among oscillators within the network structure under different possible inhibitions and excitations. The kinematics and dynamics of a five-link biped robot have been modeled, and its joints are actuated through simulation by the torques output from the neural rhythm generator to generate the trajectories for hip, knee, and ankle joints. The parameters of the neural oscillators are tuned to achieve flexible trajectories. The CPG-based control strategy is implemented and tested through a simulation.