Based on the central pattern generator (CPG) and fuzzy controller, this paper proposes a heading control method for the directional motion for a new type of blade legged hexapod robot (BLHR). First, the modified Hopf oscillator is used to construct the CPG model of BLHR based on the limit cycle. Second, the fuzzy controller is applied to adjust the support angles of legs to change the heading of BLHR, thereby correcting the error between the actual and desired heading angle in real-time. Finally, the feasibility and effectiveness of the proposed CPG-Fuzzy control method is verified in Gazebo simulations and real-world experiments. This is the first attempt to combine CPG and fuzzy control in the context of hexapod robot. In comparison to existing control methods, the proposed CPG-Fuzzy controller can implement heading control of BLHR with better performance and value of further investigation.

基于中央模式发生器（CPG）和模糊控制器，提出一种新型刀腿六足机器人（BLHR）定向运动的航向控制方法。首先，采用改进的Hopf振子构建基于极限环的BLHR CPG模型。其次，利用模糊控制器调节腿部支撑角度来改变BLHR的航向，从而实时修正实际航向角与期望航向角之间的误差。最后，在 Gazebo 仿真和实际实验中验证了所提出的 CPG-Fuzzy 控制方法的可行性和有效性。这是在六足机器人背景下将 CPG 和模糊控制相结合的首次尝试。与现有的控制方法相比，所提出的CPG-Fuzzy控制器可以实现BLHR的航向控制，具有更好的性能和进一步研究的价值。