Bio-Inspired CPG Based Locomotion for Humanoid Robot Application

  • Mohamed A. SayariEmail author
  • Neila Masmoudi
  • Riadh Zaier
Conference paper
Part of the Lecture Notes in Mechanical Engineering book series (LNME)


Considerable attention has been paid to the development of stable walking robots. Indeed, biped locomotion becomes a broadcast area where various research topics such as artificial intelligence, control theory and neuroscience cope to enhance the abilities of the robots. In this paper, Central Pattern Generator (CPG) which are neural circuits that generates oscillations for rhythmic patterns are used to control the humanoid. The choice of using a CPG as a motion generator is motivated by the naturality of the generated pattern. Moreover, CPG offers the possibility to control the gait speed ensuring an easy modulation of the walking speed. Here, the Zero Moment point is used to measure the stability of the humanoid while walking. Thus, in this paper, a humanoid robot’s walking model is presented with a strong emphasis on stability and representativity of actual human walking. Furthermore, the methodological considerations in the implementation of a CPG controller for a humanoid robot application are also presented.


Biped locomotion Zero moment point Central pattern generator 


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Mohamed A. Sayari
    • 1
    Email author
  • Neila Masmoudi
    • 1
  • Riadh Zaier
    • 2
  1. 1.Electromechanical Systems Laboratory (LASEM)National Engineering School of Sfax University of SfaxSfaxTunisia
  2. 2.Sultan Qaboos UniversityMuscatOman

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