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Mathematical Problems in Engineering
Volume 2015, Article ID 793208, 9 pages
Research Article

Research on Walking Gait of Biped Robot Based on a Modified CPG Model

College of Information and Engineering, Taishan Medical University, Taian 271016, China

Received 27 October 2014; Revised 17 December 2014; Accepted 21 December 2014

Academic Editor: Victor Santibáñez

Copyright © 2015 Qiang Lu and Juan Tian. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The neurophysiological studies of animals locomotion have verified that the fundamental rhythmic movements of animals are generated by the central pattern generator (CPG). Many CPG models have been proposed by scientific researchers. In this paper, a modified CPG model whose output function is is presented. The paper proves that the modified model has stable periodic solution and characteristics of the rhythmic movement using the Lyapunov judgement theorem and the phase diagram. A modified locomotion model is established in which the credit-assignment cerebellar model articulation controller (CA-CMAC) algorithm is used to realize the pattern mapping between the CPG output and the musculoskeletal system. And a seven-link biped robot is employed to simulate cyclic walking gait in order to test the validity of the locomotion model. The main findings include the following. (1) The modified CPG model can generate spontaneous oscillations which correspond to biological signals. (2) The analysis of the modified locomotion model reveals that the CA-CMAC algorithm can be used to realize the pattern mapping between the CPG output and the musculoskeletal system.