Central Pattern Generator in Bio-inspired Robot: Simulation using MATLAB

Central pattern generator (CPG) is defined here as a neural network responsible for the production of the timing cues of a rhythmic motor output pattern. In biological system, the CPG is a network of neurons that generate the rhythmic movements such as locomotion of animals. This rhythmic movement will induced a coordination of physical parts that necessary for stable locomotion. To implement this control system and created the locomotion control for bio-inspired robot, we used the neural oscillator to mimic this CPG function. In this paper, Matsuoka’s oscillator is been used as neuron model of CPG in order to express the motion of our bio-inspired robot. The outputs of this CPG network are used as the target angles of corresponding joints in this robot. With MATLAB software, we produced the simulation result on the CPG model for the robot. Finally, we hope with this result, we can build the bio-inspired controller based on CPG function for our bio-inspired robot.