Gait Regulation of a Bionic Quadruped Robot with Antiparallelogram Leg Based on CPG Oscillator

In order to shorten the research and development cycle of quadruped robot, it is significant to solve the problem of single leg weight-bearing and obtain a smooth gait switching. Firstly, a leg structure with an antiparallelogram is proposed, which greatly enhances the strength and stiffness of the leg in this paper. Secondly, the Simulink-ADAMS cosimulation platform is built and the improved Hopf oscillator is used in the control of robot. This control mode based on CPG realizes the walk and trot gait of quadruped robot. Thirdly, in order to solve the problems of breakpoints, phase-locked, and stopping of gait curve in the process of gait switching by directly replacing the gait matrix, the functional relationship between the right hind leg and duty cycle is introduced to realize the smooth transition of gait curve. The simulation results show that the proposed algorithm can achieve a smooth gait transformation within 4–6 second, which preliminarily proves the feasibility of the algorithm. Finally, the experimental platform is built and the control algorithm is written into the controller to realize the specific gait of the robot, which proves the effectiveness of the proposed method.