CPG-Based Control Scheme for Quadruped Robot to Withstand the Lateral Impact

In the research of land mobile robots, the stability control of quadruped robots has gradually become the focus, also the difficulty. Aimed to keep stability to withstand lateral impact, a control scheme was proposed. A four triggered Hopf oscillator was introduced into the CPG network in the form of reflex to control the lateral movement of the robot. The algorithm, based on the ZMP theory and the inverted pendulum model, can predict the lateral step size and times to keep the stability. Worked in the normal walking control scheme, the lateral acceleration can quickly return to normal after the impact. And the ability to withstand lateral impact was significantly improved. The scheme was validated with the Matlab and Adams simulation.