Ajallooeian, MostafaGay, SébastienTuleu, AlexandreSprowitz, AlexanderIjspeert, Auke2013-07-232013-07-232013-07-23201310.1109/IROS.2013.6696839https://infoscience.epfl.ch/handle/20.500.14299/93455WOS:000331367403068We present a general approach to design modular controllers for limit cycle locomotion over unperceived rough terrain. The control strategy uses a Central Pattern Generator (CPG) model implemented as coupled nonlinear oscillators as basis. Stumbling correction and leg extension reflexes are implemented as feedbacks for fast corrections, and model-based posture control mechanisms define feedbacks for continuous corrections. The control strategy is validated on a detailed physics-based simulated model of a compliant quadruped robot, the Oncilla robot. We demonstrate dynamic locomotion with a speed of more than 1.5 BodyLength/s over unperceived uneven terrains, steps, and slopes.Central Pattern GeneratorsLocomotionQuadrupedtext::conference output::conference proceedings::conference paper