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Central pattern generators (CPGs), with a basis is neurophysiological studies, are a type of neural network for the generation of rhythmic motion. While CPGs are being increasingly used in robot control, most applications are hand-tuned for…

Central Pattern Generators (CPGs) are biological neural circuits capable of producing coordinated rhythmic outputs in the absence of rhythmic input. As a result, they are responsible for most rhythmic motion in living organisms. This…

Central Pattern Generators (CPGs) in invertebrates are comprised of networks of neurons in which every neuron has reciprocal connections to other members of the CPG. This is a ``closed'' network topology. An ``open'' topology, where one or…

Biological studies reveal that neural circuits located at the spinal cord called central pattern generator (CPG) oscillates and generates rhythmic signals, which are the underlying mechanism responsible for rhythmic locomotion behaviors of…

We identify and describe the key qualitative rhythmic states in various 3-cell network motifs of a multifunctional central pattern generator (CPG). Such CPGs are neural microcircuits of cells whose synergetic interactions produce multiple…

Entrainment of movement to a periodic stimulus is a characteristic intelligent behaviour in humans and an important goal for adaptive robotics. We demonstrate a quadruped central pattern generator (CPG), consisting of modified Matsuoka…

Stick insect stepping patterns have been studied for insights about locomotor rhythm generation and control, because the underlying neural system is relatively accessible experimentally and produces a variety of rhythmic outputs. Harnessing…

For a robot to be both autonomous and collaborative requires the ability to adapt its movement to a variety of external stimuli, whether these come from humans or other robots. Typically, legged robots have oscillation periods explicitly…

Small groups of interneurons, abbreviated by CPG for central pattern generators, are arranged into neural networks to generate a variety of core bursting rhythms with specific phase-locked states, on distinct time scales, that govern vital…

Central pattern generators (CPGs) appear to have evolved multiple times throughout the animal kingdom, indicating that their design imparts a significant evolutionary advantage. Insight into how this design is achieved is hindered by the…

How can we develop simple yet realistic models of the small neural circuits known as central pattern generators (CPGs), which contribute to generate complex multi-phase locomotion in living animals? In this paper we introduce a new model…

Neural circuits in the brain perform a variety of essential functions, including input classification, pattern completion, and the generation of rhythms and oscillations that support processes such as breathing and locomotion. There is also…

Spiking neural networks (SNNs) represent a promising approach to developing artificial neural networks that are both energy-efficient and biologically plausible. However, applying SNNs to sequential tasks, such as text classification and…

Bio-inspired control of motion is an active field of research with many applications in real world tasks. In the case of robotic systems that need to exhibit oscillatory behaviour (i.e. locomotion of snake-type or legged robots), Central…

We present a novel framework for central pattern generator design that leverages the intrinsic rebound excitability of neurons in combination with winner-takes-all computation. Our approach unifies decision-making and rhythmic pattern…

Neuromorphic computing systems, where information is transmitted through action potentials in a bio-plausible fashion, is gaining increasing interest due to its promise of low-power event-driven computing. Application of neuromorphic…

The gait generator, which is capable of producing rhythmic signals for coordinating multiple joints, is an essential component in the quadruped robot locomotion control framework. The biological counterpart of the gait generator is the…

The purpose of this paper is trifold -- to serve as an instructive resource and a reference catalog for biologically plausible modeling with i) conductance-based models, coupled with ii) strength-varying slow synapse models, culminating in…

Central Pattern Generators (CPGs) form the neural basis of the observed rhythmic behaviors for locomotion in legged animals. The CPG dynamics organized into networks allow the emergence of complex locomotor behaviors. In this work, we take…

Legged locomotion is a challenging task in the field of robotics but a rather simple one in nature. This motivates the use of biological methodologies as solutions to this problem. Central pattern generators are neural networks that are…