【摘要】 对基于CPG的仿人机器人运动控制方法的仿生学基础及控制原理、特性进行了阐述,并从控制模型、控制体系、参数调节、与其它控制器的联合几个方面对该方法的研究进展进行了分析和总结,对其发展趋势进行了展望。更多还原

【Abstract】 It demonstrates the CPG-based locomotion control on biped robot about its biological basis,control principle,and characteristics;and analyzes its research status from the view of control model, control architecture,parameter tuning,and its combination with other controllers. Its future development is also discussed.更多还原