Fig. 3
From: Bio-inspired neural networks with central pattern generators for learning multi-skill locomotion
The robot is commanded to follow various velocity commands in simulation. Hip Roll represents the hip abduction/adduction joint, Hip Pitch represents the hip flexion/extension joint, and Knee Pitch represents the knee flexion/extension joint. (a) Snapshots of the robot performing fall recovery, lateral locomotion, steering, and forward locomotion in simulation. (b) Measured velocity and target velocity. (c) Roll and pitch angles of robot base. (d) CPG oscillation offset \(\chi\) of front left leg joints. (e) CPG output signal \(\psi\) of front left leg joints. (f) Target joint angles of front left leg joints. (see Supplementary Video S1 for the corresponding video. Video URL: https://youtu.be/JmZGazoHKDs).
