Gaits and transitions are key components in legged locomotion. For legged robots,
describing and reproducing gaits as well as transitions remain longstanding challenges …

Legged robots have significant potential to operate in unstructured environments. The
design of locomotion control is, however, still challenging. Currently, controllers must be …

Generation of complex patterns at a specific timing is crucial to most forms of learning and
behavior, which are acquired through dopamine-modulated plasticity in the striatum …

Learning to adapt one's gait with environmental changes plays an essential role in the
locomotion of legged robots which remains challenging for constrained computing …

Learning to walk-ie, learning locomotion under performance and energy constraints
continues to be a challenge in legged robotics. Methods such as stochastic gradient, deep …

Central pattern generator (CPG) models have long been used to investigate both the neural
mechanisms that underlie animal locomotion, as well as for robotic research. In this work we …

Animals dynamically adapt to varying terrain and small perturbations with remarkable ease.
These adaptations arise from complex interactions between the environment and …

The paper develops a neuromorphic system on a Spartan 6 field programmable gate array
(FPGA) board to generate locomotion patterns (gaits) for three different legged robots …

Central pattern generators (CPGs) functioning as biological neuronal circuits are
responsible for generating rhythmic patterns to control locomotion. In this paper, a …

Online learning for the legged robot locomotion under performance and energy constraints
remains to be a challenge. Methods such as stochastic gradient, deep reinforcement …