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To generate smooth gait and shorten the adjusting time of the model oscillation system, a new CPG model controller and its gait switching strategy based on Wilson-Cowan model are presented in the paper. The control signals of knee-hip joints are obtained by the improved multi-DOF reduced order control theory. To realize stability control, the adaptive speed adjustment and gait switch are completed by the real-time computing of ZMP. Experiment results show that the quadruped robot\u2019s gaits are efficiently generated and the gait switch is smooth in the CPG control algorithm. Meanwhile, the stability of robot\u2019s movement is improved greatly with the CPG-ZMP algorithm. The algorithm in this paper has good practicability, which lays a foundation for the production of the robot prototype.<\/jats:p>","DOI":"10.1155\/2016\/9853070","type":"journal-article","created":{"date-parts":[[2016,4,10]],"date-time":"2016-04-10T17:01:29Z","timestamp":1460307689000},"page":"1-13","source":"Crossref","is-referenced-by-count":33,"title":["Gait Planning and Stability Control of a Quadruped Robot"],"prefix":"10.1155","volume":"2016","author":[{"given":"Junmin","family":"Li","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Xihua University, No. 999 Jinzhou Road, Jinniu District, Chengdu, Sichuan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jinge","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Xihua University, No. 999 Jinzhou Road, Jinniu District, Chengdu, Sichuan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Simon X.","family":"Yang","sequence":"additional","affiliation":[{"name":"Advanced Robotics and Intelligent Systems Laboratory, School of Engineering, University of Guelph, Guelph, ON, Canada N1G 2W1"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kedong","family":"Zhou","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Xihua University, No. 999 Jinzhou Road, Jinniu District, Chengdu, Sichuan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Huijuan","family":"Tang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Xihua University, No. 999 Jinzhou Road, Jinniu District, Chengdu, Sichuan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","reference":[{"key":"1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907078089"},{"key":"2","doi-asserted-by":"publisher","DOI":"10.3901\/jme.2010.07.001"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuron.2006.11.008"},{"key":"5","doi-asserted-by":"publisher","DOI":"10.1152\/physrev.00028.2005"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2015.02.087"},{"key":"8","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2010.2097589"},{"key":"13","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2011.05.003"},{"key":"14","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2014.05.011"},{"key":"15","doi-asserted-by":"publisher","DOI":"10.1007\/bf00319514"},{"key":"16","doi-asserted-by":"publisher","DOI":"10.1177\/0278364903022003004"},{"key":"17","doi-asserted-by":"publisher","DOI":"10.1109\/tsmcb.2010.2097589"},{"key":"22","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-009-9172-5"},{"key":"24","doi-asserted-by":"publisher","DOI":"10.3724\/sp.j.1218.2010.00398"}],"container-title":["Computational Intelligence and Neuroscience"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/cin\/2016\/9853070.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/cin\/2016\/9853070.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/cin\/2016\/9853070.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2016,7,26]],"date-time":"2016-07-26T13:56:52Z","timestamp":1469541412000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.hindawi.com\/journals\/cin\/2016\/9853070\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016]]},"references-count":13,"alternative-id":["9853070","9853070"],"URL":"https:\/\/doi.org\/10.1155\/2016\/9853070","relation":{},"ISSN":["1687-5265","1687-5273"],"issn-type":[{"value":"1687-5265","type":"print"},{"value":"1687-5273","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016]]}}}