Analysis of CPG gait parameters and velocity of quadruped robot with spine*

According to the characteristics of animal’s spine movement and specific speed corresponding to a gait pattern, the relationship between gait parameters and speed is analyzed. First, the Hopf oscillator is used to generate the central pattern generator rhythm signal, and the characteristics of parameters of the Hopf oscillator are analyzed. Secondly, the relationship between the speed and the gait frequency in the trot gait is analyzed, and the relationship between the speed and the stride in the bound gait is analyzed. Then, through the Webots simulation, the results show that the addition of the spine makes the robot speed significantly faster in the bound gait. Finally, the rationality of the relationship between the respective speed and gait parameters in the trot and bound gait is verified by Webots simulation. After analysis, the error of the angular frequency is about 3.4 rad/s, the error of the amplitude of the spine is 0.026 rad.