Bio-Inspired CPG Based Locomotion for Humanoid Robot Application

Mohamed A. Sayari*, Neila Masmoudi, Riadh Zaier

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution


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.

Original languageEnglish
Title of host publicationDesign and Modeling of Mechanical Systems - IV - Proceedings of the 8th Conference on Design and Modeling of Mechanical Systems, CMSM 2019
EditorsNizar Aifaoui, Zouhaier Affi, Abdelmajid Benamara, Mnaouar Chouchane, Mohamed Slim Abbes, Lassad Walha, Mohamed Haddar, Fakher Chaari, Lotfi Romdhane
PublisherSpringer Science and Business Media Deutschland GmbH
Number of pages9
ISBN (Print)9783030271459
Publication statusPublished - 2020
Event8th International Congress on Design and Modeling of Mechanical Systems, CMSM 2019 - Hammamet, Tunisia
Duration: Mar 18 2019Mar 20 2019

Publication series

NameLecture Notes in Mechanical Engineering
ISSN (Print)2195-4356
ISSN (Electronic)2195-4364


Conference8th International Congress on Design and Modeling of Mechanical Systems, CMSM 2019


  • Biped locomotion
  • Central pattern generator
  • Zero moment point

ASJC Scopus subject areas

  • Automotive Engineering
  • Aerospace Engineering
  • Mechanical Engineering
  • Fluid Flow and Transfer Processes


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