This document discusses the design of a quadruped robot that walks like a dog using central pattern generators. It first provides background on existing quadruped robots as inspiration. It then discusses canine anatomy and includes sketches of a potential robot design. The main component discussed is using central pattern generators, which are groups of neurons in the spine that output rhythmic signals to muscles without external input to control walking. The document describes experiments using oscillators and sinusoidal clocks in software to simulate central pattern generators and get a turtle and penguin robot to walk. It concludes by reflecting on lessons learned from the project around failures and communication challenges.

1. Quadrupeds and
Central Pattern Generators
BY
KRISTIAN TOOLE
&
BRIA WILLIAMS
1

2. What is needed in
order to make a
robot walk like a
canine?
The Motivating Question
2

3. Inspiration and Background
Boston Dynamics Big Dog
Aibo
TekkenCheetah Cub
Allegro Do
g
3
3

4. Beginning to Design 4
4

5. Canine Anatomy?? 5
5

6. Sketches, Sketches, and more
Sketches
6
6

7. Central Pattern Generator (CPG)
Definition: A group of
neurons located in the
spine that output rhythmic
signals or frequencies to
muscles throughout the
body without any external
input, telling them when
to contract and when to
not contract.
7
7

8. Introducing Cedric the Turtle 8
8

9. Cue Cedric! 9
9

10. Oscillators 10
10

11. The Sinusoidal Clock 11
11

12. A Refresher in Math 12
12

13. Sinusoidal Oscillators
2∏ ∏
∏/4
13
13

14. Cue Penelope! 14
14

15. Summary 15
15

16. Significant Learning
• Finding examples of similar research
• Lots of Hardware Failures
• Software Failures
• Poor communication ( with original robot
designer )
• Converting Math to Code
16
16

17. Conclusion 17
17

18. Acknowledgements
Professor Matt Jadud
Professor Scott Heggen
Professor Mark Mahoney
Professor Mario Nakazawa
URCPP Fund
18
18

19. Questions? 19
19