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

<div>Stick figure of the walking movement and <svg height="13.8308pt" id="M151" style="vertical-align:-5.23406pt" version="1.1" viewbox="-0.0498162 -8.59674 26.549 13.8308" width="26.549pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M782 650H541L536 618L564 614C597 609 604 600 584 574C535 508 486 451 437 395C394 473 361 533 343 575C331 605 335 610 375 615L400 618L407 650H156L147 618C222 612 230 608 267 537L375 330C277 214 186 117 163 96C108 43 97 38 27 32L18 0H265L274 32L251 35C204 41 202 47 224 80C264 138 327 213 397 293L504 80C520 48 516 42 472 36L440 32L433 0H707L716 32C627 38 622 43 581 121L455 361L629 548C685 606 696 610 775 618L782 650Z" id="g50-89"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="800" vert-adv-y="800"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,9.984,3.001)"><path d="M387 138L374 114C336 54 316 33 240 33H141C223 167 303 295 385 423L379 437H149C112 437 100 443 94 458H73C65 415 50 352 39 314L64 305L78 332C106 388 119 403 191 403C214 403 246 403 280 403C198 270 117 142 31 15L38 0H367C382 40 399 86 413 125L387 138Z" id="g190-123"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="420" vert-adv-y="420"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,13.806,3.001)"><path d="M797 0V26C739 32 732 36 732 103V296C732 394 682 449 605 449C576 449 550 437 529 423C504 407 475 389 446 366C425 418 382 449 334 449C303 449 279 437 253 421C222 403 201 385 180 371V452C135 432 85 419 41 411V388C99 379 102 374 102 310V103C102 38 93 32 27 26V0H238V26C189 32 180 38 180 103V338C210 363 250 390 289 390C351 390 377 348 377 275V103C377 37 368 32 306 26V0H520V26C465 32 456 38 456 101V296C456 314 455 326 453 338C491 369 529 390 565 390C628 390 653 345 653 274V107C653 36 642 32 583 26V0H797Z" id="g190-110"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="819" vert-adv-y="819"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,21.085,3.001)"><path d="M169 380V459C122 440 66 423 24 416V392C86 384 90 382 90 317V-135C90 -201 81 -207 17 -213V-240H253V-213C176 -207 169 -201 169 -125V6C182 -1 208 -11 238 -12C368 12 487 109 487 260C487 358 421 449 310 449C298 449 279 444 261 433L169 380ZM169 346C196 367 237 389 269 389C341 389 403 329 403 221C403 109 347 37 263 37C228 37 191 53 169 76V346Z" id="g190-113"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="524" vert-adv-y="524"></glyph.data></g></svg> based on planning. (a) Stick figure of the walking movement. (b) Diagram of <svg height="13.8308pt" id="M152" style="vertical-align:-5.23406pt" version="1.1" viewbox="-0.0498162 -8.59674 26.549 13.8308" width="26.549pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M782 650H541L536 618L564 614C597 609 604 600 584 574C535 508 486 451 437 395C394 473 361 533 343 575C331 605 335 610 375 615L400 618L407 650H156L147 618C222 612 230 608 267 537L375 330C277 214 186 117 163 96C108 43 97 38 27 32L18 0H265L274 32L251 35C204 41 202 47 224 80C264 138 327 213 397 293L504 80C520 48 516 42 472 36L440 32L433 0H707L716 32C627 38 622 43 581 121L455 361L629 548C685 606 696 610 775 618L782 650Z" id="g50-89"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="800" vert-adv-y="800"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,9.984,3.001)"><path d="M387 138L374 114C336 54 316 33 240 33H141C223 167 303 295 385 423L379 437H149C112 437 100 443 94 458H73C65 415 50 352 39 314L64 305L78 332C106 388 119 403 191 403C214 403 246 403 280 403C198 270 117 142 31 15L38 0H367C382 40 399 86 413 125L387 138Z" id="g190-123"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="420" vert-adv-y="420"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,13.806,3.001)"><path d="M797 0V26C739 32 732 36 732 103V296C732 394 682 449 605 449C576 449 550 437 529 423C504 407 475 389 446 366C425 418 382 449 334 449C303 449 279 437 253 421C222 403 201 385 180 371V452C135 432 85 419 41 411V388C99 379 102 374 102 310V103C102 38 93 32 27 26V0H238V26C189 32 180 38 180 103V338C210 363 250 390 289 390C351 390 377 348 377 275V103C377 37 368 32 306 26V0H520V26C465 32 456 38 456 101V296C456 314 455 326 453 338C491 369 529 390 565 390C628 390 653 345 653 274V107C653 36 642 32 583 26V0H797Z" id="g190-110"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="819" vert-adv-y="819"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,21.085,3.001)"><path d="M169 380V459C122 440 66 423 24 416V392C86 384 90 382 90 317V-135C90 -201 81 -207 17 -213V-240H253V-213C176 -207 169 -201 169 -125V6C182 -1 208 -11 238 -12C368 12 487 109 487 260C487 358 421 449 310 449C298 449 279 444 261 433L169 380ZM169 346C196 367 237 389 269 389C341 389 403 329 403 221C403 109 347 37 263 37C228 37 191 53 169 76V346Z" id="g190-113"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="524" vert-adv-y="524"></glyph.data></g></svg>.</div>

Mathematical Problems in Engineering

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Figure 9

Figure 9: Research on Walking Gait of Biped Robot Based on a Modified CPG Model 