The invention discloses a central mode generator-based quadruped
robot gait planning method. The method comprises the following steps: B1, reference oscillation signals are adjusted correspondingly inview of a different joint, the attitude angle, the
angular velocity and the position of the
trunk during the movement process of the quadruped
robot are measured, and feedback signals are generated accordingly; according to the oscillation signals and the feedback signals after adjustment, control signals of each joint are outputted; the control signals of a side-swing joint contain the oscillation signals; control signals for a hip joint pair in swing and standing phases are different, control signals for a
knee joint in the standing phase are adjusted, and thus, the angle of the knee jointis thus adjusted; and B2, the control signals control the quadruped
robot to perform
diagonal gaits, that is, a left foreleg and a right rear leg move together, and a right foreleg and a left rear legmove together. Different joints are adjusted differently, the
pitch angle and the roll angle when the quadruped robot moves are reduced, and the stability of the quadruped robot during the motion process is improved.