Multi-Layered CPG for Adaptive Walking of Quadruped Robots

This work concerns biped adaptive walking control on slope terrains with online trajectory generation. In terms of the lack of satisfactory performances of the traditional simplified single-layered Central Pattern Generator (CPG) model in engineering applications where robots face unknown environments and access feedback, this paper presents a Multi-Layered CPG (ML-CPG) model based on a half-center CPG model. The proposed ML-CPG model is used as...