Omnidirectional Motion Control Method of Quadruped Robot Based on 3D-CPG Oscillator Group

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Bo Tao, Dongchao Yang, Geng Huang, Zecui Zeng, Chen Chen, Teng Li

Published: 2022, Last Modified: 28 Feb 2026CLAWAR 2022EveryoneRevisionsBibTeXCC BY-SA 4.0
Abstract: This paper focuses on the position control method of the quadruped robot, aims at the dynamic gait of the quadruped robot for Omnidirectional stable movement, combines the central mode generator to study the control method of the quadruped robot, and extends the CPG oscillator to 3 dimensions using the excellent dynamic characteristics and adaptive ability of CPG oscillator, the rhythmic foot movement trajectory for the trot gait is designed, and a universal quadruped robot is verified through dynamic simulation Motion trajectory planning methods.