基于CPG的六足机器人运动步态控制方法

中枢模式发生器（CPG）在六足机器人的运动步态控制中起着至关重要的作用。为了研究六足机器人的运动控制方法，首先基于仿生学原理设计了六足机器人的机械结构，并在虚拟样机软件ADAMS中搭建其三维模型；其次选择Hopf振荡器作为CPG单元，并改进了振荡器模型；然后设计了六足机器人的CPG网络拓扑结构，包含单腿关节映射函数方案和腿间CPG环形耦合网络方案，并对其进行了改进；最后通过ADAMS和MATLAB联合仿真实验，验证了所设计六足机器人的运动稳定性和CPG控制方案的可行性与有效性。仿真结果表明，该方法能够满足六足机器人不同运动步态的控制需求，对六足机器人的运动控制具有一定的实际应用价值。

CPG-based motion gait control method of hexapod robot

The CPG plays a vital role in the motion gait control of the hexapod robot. In order to study the motion control method of hexapod robot, this paper firstly designed the mechanical structure of hexapod robot based on the principle of bionics, and built its three-dimensional model in virtual prototype software ADAMS; Secondly, this paper selected the Hopf oscillator as CPG unit and improved it; Then, this paper designed CPG network topology of the hexapod robot, including schemes of the one-leg joint mapping function and the CPG ring-coupling network between the legs, and made improvement; Finally, this paper verified the motion stability of the designed hexapod robot and the feasibility and effectiveness of the CPG control scheme by ADAMS and MATLAB co-simulation experiments. The simulation results show that the method can meet the control requirements of different gait of the hexapod robot, and there is some value in practical applications for the motion control of the hexapod robot.