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Locomotion is a crucial challenge for legged robots that is addressed "effortlessly" by biological networks abundant in nature, named central pattern generators (CPG). The multitude of CPG network models that have so far become biomimetic…

Central Pattern Generators (CPGs) models have been long used to investigate both the neural mechanisms that underlie animal locomotion as well as a tool for robotic research. In this work we propose a spiking CPG neural network and its…

Learning to walk -- i.e., learning locomotion under performance and energy constraints continues to be a challenge in legged robotics. Methods such as stochastic gradient, deep reinforcement learning (RL) have been explored for bipeds,…

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…

In recent years, locomotion mechanisms exhibited by vertebrate animals have been the inspiration for the improvement in the performance of robotic systems. These mechanisms include the adaptability of their locomotion to any change…

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…

Initially, robots were developed with the aim of making our life easier, carrying out repetitive or dangerous tasks for humans. Although they were able to perform these tasks, the latest generation of robots are being designed to take a…

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…

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…

This paper presents a bio-inspired central pattern generator (CPG)-type architecture for learning optimal maneuvering control of periodic locomotory gaits. The architecture is presented here with the aid of a snake robot model problem…

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…

The complexity of bipedal locomotion may be attributed to the difficulty in synchronizing joint movements while at the same time achieving high-level objectives such as walking in a particular direction. Artificial central pattern…

Biological nervous systems typically perform the control of numerous degrees of freedom for example in animal limbs. Neuromorphic engineers study these systems by emulating them in hardware for a deeper understanding and its possible…

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…

Animals possess a remarkable ability to navigate challenging terrains, achieved through the interplay of various pathways between the brain, central pattern generators (CPGs) in the spinal cord, and musculoskeletal system. Traditional…

All vertebrates are capable of performing various types of physical activity. Locomotor patterns are created by the cyclical coordinated work of the skeletal muscles. The organization of such a system in living organisms is responsible for…

While neuromorphic computing architectures based on Spiking Neural Networks (SNNs) are increasingly gaining interest as a pathway toward bio-plausible machine learning, attention is still focused on computational units like the neuron and…

Quadruped animal locomotion emerges from the interactions between the spinal central pattern generator (CPG), sensory feedback, and supraspinal drive signals from the brain. Computational models of CPGs have been widely used for…

An originally chaotic system can be controlled into various periodic dynamics. When it is implemented into a legged robot's locomotion control as a central pattern generator (CPG), sophisticated gait patterns arise so that the robot can…

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…