To improve the adaptability of quadruped robot in multiple scenarios, an adaptive locomotive system based on the double-layered central pattern generator (CPG) is proposed. The novel CPG network consists of double master units and subsets of slave units based on gyroscope signals including yaw and pitch angle. The response of master units provides the ability to control the 1st joins of quadruped robot, while slave units can generate the symmetry signals to control the 2nd and 3rd joints. The CPG network enables the seamless switching of locomotion gaits to stops and starts by using an ultrasonic sensor. Through adjusting the mutually dependent parameters, joints can generate the joint angles to achieve steering behavior. For adaptive movement on an irregular surface, stable ranges of the robot body yaw and pitch angles are proposed by using gyroscope signals. The experimental results verify that the quadruped robot with the proposed double-layered CPG network can perform stable trot pattern in a complex environment.
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