September 10, 2025Applied SciencesOpen Access

Research on Motion Control Method of Wheel-Legged Robot in Unstructured Terrain Based on Improved Central Pattern Generator (CPG) and Biological Reflex Mechanism

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The proposed strategy effectively reduces turning oscillation to ≤±0.00593 m, ensuring enhanced stability.
Experiments and simulations show pitch recovery times ≤2 seconds, maintaining a stable center of mass during operation.
Real-time feedback mechanisms, including vestibular and stumbling reflex models, enhance robot navigation in challenging terrains.
The integration of the Lyapunov function improves the robot's response to obstacles, showing promising results in practical applications.

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Implication

This research demonstrates a novel motion control strategy using the CPG algorithm and biological reflex mechanisms for robots, highlighting improved stability in complex environments.

Cite This Study

Gao et al. (2025) studied this question.

synapsesocial.com/papers/68c241efb210217d647a1ef9 https://doi.org/10.3390/app15158715

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Implication

This research demonstrates a novel motion control strategy using the CPG algorithm and biological reflex mechanisms for robots, highlighting improved stability in complex environments.

Research on Motion Control Method of Wheel-Legged Robot in Unstructured Terrain Based on Improved Central Pattern Generator (CPG) and Biological Reflex Mechanism

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Discussion

Implication

Cite This Study

Research on Motion Control Method of Wheel-Legged Robot in Unstructured Terrain Based on Improved Central Pattern Generator (CPG) and Biological Reflex Mechanism

Key Points

Discussion

Implication

Cite This Study

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