Research on the Gait Planning of Artificial Leg Based on Central Pattern Generator

Abstract

Abstract. To achieve the artificial leg of biped robot with heterogeneous legs (BRHL) humanoid walking, the gait planning of artificial leg was researched in this paper based on central pattern generator (CPG). Firstly, the hopf oscillator was analyzed and applied to build the CPG network. Then, the parameters of CPG network were optimized by genetic algorithm and the gait curves of CPG network planning were obtained by MATLAB simulation. Finally, based on ADAMS, the walking simulation of BRHL was carried out and the rationality of the gait planning of artificial leg by CPG network was verified.