Research on Biped Robot Motion Control and Gait Based on CPG

To address the limitations and instability against disturbances of the walking gait of existing bipedal robots based on the inverted pendulum model, this paper proposes a new control method based on the Central Pattern Generator (CPG) model. By incorporating Hopf oscillators and Kuramoto terms into the original inverted pendulum model, and by adjusting parameters, this method enables the controller to produce stable and gait-periodic oscillations that match the robot's stride, thereby making the robot's center of gravity more stable and enhancing its disturbance resistance during walking. This study also connects the improved controller with the robot's joint motors and adjusts the robot's leg-lifting height and foot trajectory using Bezier curve interpolation, based on the Zero Moment Point (ZMP) gait generation method, to plan a complete robot gait. Finally, through simulations and experiments of the bipedal humanoid robot walking continuously and under sinusoidal disturbances, it was found that the new model can maintain a smaller fluctuation range of the center of gravity during walking, stabilize more quickly against external disturbances, and produce less noise when disturbed. This verifies the feasibility and effectiveness of the proposed control strategy.