A novel asynchronous sequential logic model of central pattern generator for quadruped robot: systematic design and efficient implementation

A novel central pattern generator (CPG) based locomotion controller for a quadruped robot is proposed. The model is composed of a network of neuronal oscillators, where the nonlinear dynamics of each oscillator is modeled by an asynchronous sequential logic. Based on bifurcation analyses of the oscillator, a systematic design method of the oscillator to generate a prescribed target gait for the quadruped robot is proposed. Furthermore, a systematic design method of the network to generate the prescribed target gait is also proposed. Then, a prototype of the proposed model is implemented in an FPGA and experiments show that the model can generate the prescribed target gait of a physically implemented quadruped robot. It is also shown that the proposed model consumes lower power and fewer circuit resources compared to a CPG-based locomotion controller implemented by a digital signal processor.