Research on a CPG Bionic Control System of Robot

In this paper, a bionic control system of CPG(central pattern generator) of robot is build based on the three local neurons network model of CPG, and by simulating the motion control system of the animals consists of nerve and muscle. This control system consists of a CPG planner, a forward path of motorneuron, a feedback path of feedbackneuron, it not only realized producing the rhythmic motion, but also realized driving of object-controlled and feeding back of external information by simulating the controller and the sensorium in the motion control system of animals. Finally, we validate this control system on a robot joint simulation platform and show several simulation results.