This paper surveys the developments of the last 20 years in the field of central pattern
generator (CPG) inspired locomotion control, with particular emphasis on the fast emerging …

Compared with wheeled mobile robots, legged robots can easily step over obstacles and
walk through rugged ground. They have more flexible bodies and therefore, can deal with …

Articulated legs enable the selection of robot gaits, including walking in different directions
such as forward or sideways. For longer distances, the best gaits might maximize velocity or …

This manuscript proposes a method to directly transfer the features of horse walking, trotting,
and galloping to a quadruped robot, with the aim of creating a much more natural (horse …

Purpose To achieve stable gait planning and enhance the motion performance of
quadruped robot, this paper aims to propose a motion control strategy based on central …

This paper proposes an artificial intelligence (AI)-based new control algorithm for a self-
balancing quadruped robot. A quadruped robot is a good example of a redundant degree-of …

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 …

From insects to larger mammals, legged animals can be seen easily traversing a wide
variety of challenging environments, by carefully selecting, reaching, and exploiting high …

In the field of quadruped locomotion, dynamic locomotion behavior, and rich integration with
sensory feedback represents a significant development. In this paper, we present an efficient …

This paper presents a new control methodology for achieving smooth gait transitions for a
hexapod robot using central pattern generators (CPGs). The approach involves modifying …