%0 Journal Article %T Continuous and smooth gait transition in a quadruped robot based on CPG<br>Continuous and smooth gait transition in a quadruped robot based on CPG %A 那奇 %A 韩宝玲 %A 李华师 %A 罗庆生 %A 贾燕 %J 北京理工大学学报（自然科学中文版) %D 2016 %R 10.15918/j.jbit1004-0579.201625.0403 %X To improve the smoothness of motion control in a quadruped robot, a continuous and smooth gait transition method based on central pattern generator (CPG) was presented to solve the unsmooth or failed problem which may result in phase-locked or sharp point with direct replacement of the gait matrix. Through improving conventional weight matrix, a CPG network and a MATLAB/Simulink model were constructed based on the Hopf oscillator for gait generation and transition in the quadruped robot. A co-simulation was performed using ADAMS/MATLAB for the gait transition between walk and trot to verify the correctness and effectiveness of the proposed CPG gait generation and transition algorithms. Related methods and conclusions can technically support the motion control technology of the quadruped robot.<br>To improve the smoothness of motion control in a quadruped robot, a continuous and smooth gait transition method based on central pattern generator (CPG) was presented to solve the unsmooth or failed problem which may result in phase-locked or sharp point with direct replacement of the gait matrix. Through improving conventional weight matrix, a CPG network and a MATLAB/Simulink model were constructed based on the Hopf oscillator for gait generation and transition in the quadruped robot. A co-simulation was performed using ADAMS/MATLAB for the gait transition between walk and trot to verify the correctness and effectiveness of the proposed CPG gait generation and transition algorithms. Related methods and conclusions can technically support the motion control technology of the quadruped robot. %K quadruped robot central pattern generator (CPG) continuous and smooth gait gait transition co-simulation< %K br> %K quadruped robot central pattern generator (CPG) continuous and smooth gait gait transition co-simulation %U http://journal.bit.edu.cn/yw/bjlgyw/ch/reader/view_abstract.aspx?file_no=20160403&flag=1