Gait transition and modulation in a quadruped robot : a brainstem-like modulation approach

Abstract

In this article, we propose a bio-inspired architecture for a quadruped robot that is able to initiate/stop locomotion; generate different gaits, and to easily select and switch between the different gaits according to the speed and/or the behavioral context. This improves the robot stability and smoothness while locomoting. We apply nonlinear oscillators to model Central Pattern Generators (CPGs). These generate the rhythmic locomotor movements for a quadruped robot. The generated trajectories are modulated by a tonic signal, that encodes the required activity and/or modulation. This drive signal strength is mapped onto sets of CPG parameters. By increasing the drive signal, locomotion can be elicited and velocity increased while switching to the appropriate gaits. This drive signal can be specified according to sensory information or set a priori. The system is implemented in a simulated and real AIBO robot. Results demonstrate the adequacy of the architecture to generate and modulate the required coordinated trajectories according to a velocity increase; and to smoothly and easily switch among the different motor behaviors.