Gait Generation and Walk Speed Control for Multi-Legged Robot with Wave CPG Model

A wave Central Pattern Generator (CPG) model is a mathematical model of nonlinear oscillators and the oscillator controls the movement of a leg. The wave patterns can be controlled by the virtual energy (Hamiltonian), and as the result the gait generation and the walk speed control are achieved. The toe trajectory is derived from the oscillator variables with based on some researches about the energy consumption in animals and robots' walking. The real robot experiment reveals the relation among Hamiltonian, the actual energy consumption and the walk speed, and then the effectiveness of the proposed method is verified.