Abstract: Quadruped robots with body joints exhibit enhanced mobility, however, in outdoor environments, the energy that the robot can carry is limited, necessitating optimization of energy consumption to accomplish more tasks within these constraints. Inspired by quadruped animals, this paper proposes an energy-saving strategy for a body joint quadruped robot based on Central Pattern Generator (CPG) with multi-sensor fusion bio-reflexes. First, an energy consumption model for the robot is established, and energy characteristic tests are conducted under different gait parameters. Based on these energycharacteristics,  optimal energy-efficient  gait parameters  are determined for various environmental conditions.  Second, biological reflex mechanisms are studied, and a motion control model based on multi-sensor fusion biological reflexes isestablished using CPG as the foundation. By integrating the reflex model and gait parameters, real-time adaptive adjust-ments to the robot's motion gait are achieved on complex terrains, reducing energy loss caused by terrain disturbances. Finally, a prototype of the body joint quadruped robot is built for experimental verification. Simulation and experimental results demonstrate that the proposed algorithm effectively reduces the robot's Cost of Transport (COT) and significantly improves energy efficiency. The related research results can provide a useful reference for the research on energy effi-ciency of quadruped robots on complex terrain.

Key words: Body joint robot')">Body joint robot, Energy consumption optimization, Multi-sensor fusion, Bio-reflective mechanisms, Cost of transport