## 3 Results
### Verification of Practical Experiments  
In order to verify the effectiveness and robustness of the control system based on the improved CPG algorithm and the modeling of biological reflex mechanisms, an experimental platform for the single-wheeled leg of the wheel-legged robot, as shown in Figure 13, has been constructed. Given the structural symmetry of the leg, the left front leg was selected for simplification of the process while maintaining the core features. The hierarchical motion control system architecture of the robots was divided into a central control layer, a pattern generation layer, an execution layer, and a reflex regulation network. The functional division realized by each layer of the control system is as follows:  
1. Central layer: simulates the advanced nerve center of animals, and regulates the speed of the robot, as well as selecting and switching motion modes. 2. Pattern generation layer: constructs a rhythm generator by coupling neuron oscillators, sets the number of oscillators according to the number of the robot's hip joints, generates rhythm signals for the hip and knee joints, and realizes the generation of CPG rhythm signals. 3. Execution layer: the execution mechanism is composed of drivers, motors, etc., to simulate the function of the animal muscle-skeletal movement system. Figure 10: Simulation of robot turning motion: (**a**) simulation of turning and obstacle avoidance; (**b**) curve diagram of the displacement of the center of mass; (**c**) curve diagram of the joint movement. (4) Reflex regulation layer: establishes a robot motion feedback network based on a three-level multi-reflex tissue system, uses a variety of sensors to collect robot status information and external environment information, and models biological reflexes such as the stretch reflex, flexor reflex, and vestibular reflex. Figure 11: Simulation of the robot’s climbing motion: (**a**) simulation of upward and downward slope movements; (**b**) curve diagram of center-of-mass displacement; (**c**) curve diagram of the joint movement. Figure 12: Simulation of the robot’s gully-crossing motion: (**a**) simulation of the movement of crossing a gully; (**b**) curve diagram of the displacement of the center of mass; (**c**) curve diagram of joint motion; (**d**) RF foot-tip trajectory curve. The platform integrates components like joint motors, sensors (MPU6050, force sensors), an STM32F407 VET6 microcontroller, and an upper-computer system. Real-time performance and resource utilization of the CPG-based gait control algorithm on the STM32F407 VET6 are shown in Table 4. The STM32F407 VET6 controls high-precision servo motors via CAN bus (FOC (field-oriented control) algorithm). IMU data are displayed on OLED and foot force sensors trigger CPG adjustments via IO. This platform verifies algorithms in real-world scenarios, comparing experimental and simulation data to assess control accuracy, stability, and adaptability in complex terrains, supporting engineering applications. \begin{table}
\begin{tabular}{l l l} \hline \hline
**Indicator Category** & **Parameter Description** & **Value** \\ \hline \multirow{4}{*}{Control Cycle} & Interrupt Period & 1 ms (1 kHz) \\ \cline{2-3}  & IMU Data Output Frequency & 200 Hz \\ \cline{2-3}  & Sampling Rate of Force Sensor/Contact Switch & 500 Hz \\ \cline{2-3}  & Encoder Count Input Frequency & 1 kHz \\ \hline \multirow{3}{*}{CPU Utilization} & Single-time Consumption of Core Algorithm (CPG Gait Calculation) & 28 μs (\(\approx\)2.8\% CPU@168 MHz) \\ \cline{2-3}  & Total Consumption Time (Including Attitude Calculation + Reflex Response) & \textless{}200 μs (\(\approx\)20\% CPU@168 MHz) \\ \cline{2-3}  & Program Flash Occupation & 240 KB (23\% of Total Capacity) \\ \cline{2-3}  & SRAM Global/Buffer Area Occupation & 48 KB (25\% of Total Capacity) \\ \hline Timing Jitter & Interrupt Trigger Jitter & \textless{}0.5 μs \\ \hline Test Scenario & - & Typical Operation Mode \\ \hline \hline \end{tabular}
\end{table} 
Table 4: Algorithm performance and resource use on STM32F407 VET6.