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Locomotion Control for Quadruped Robot Combining Central Pattern Generators with Virtual Model Control

We propose a simple and efficient controller for quadruped locomotion in the flat ground and slopes to significantly increase the locomotion speed of robot. Our approach is based on the Central Pattern Generator implemented as coupled morphed Hopf oscillators. We merge the outputs of CPG with those of virtual model control which is responsible for posture control. We verify our control strategy on a 3D dynamics simulated robot like a dog in Simscape. To demonstrate the feasibility of the proposed approach, we perform locomotion in the flat ground and slopes.