On chains of oscillators forced at one end
SIAM Journal on Applied Mathematics
A distributed neural network architecture for hexapod robot locomotion
Neural Computation
Lobster walking as a model for an omnidirectional robotic ambulation architecture
Proceedings of the workshop on "Locomotion Control in Legged Invertebrates" on Biological neural networks in invertebrate neuroethology and robotics
Evolving dynamical neural networks for adaptive behavior
Adaptive Behavior
Inhibition-produced patterning in chains of coupled nonlinear oscillators
SIAM Journal on Applied Mathematics
Walking: a complex behavior controlled by simple networks
Adaptive Behavior - Special issue on computational neuroethology
A learning model for oscillatory networks
Neural Networks
Neural control of rhythmic arm movements
Neural Networks - Special issue on neural control and robotics: biology and technology
The handbook of brain theory and neural networks
Collective behavior of coupled oscillators
The handbook of brain theory and neural networks
Evolutionary Robotics: The Biology,Intelligence,and Technology
Evolutionary Robotics: The Biology,Intelligence,and Technology
Neurotechnology for Biomimetic Robots
Neurotechnology for Biomimetic Robots
RHex: A Biologically Inspired Hexapod Runner
Autonomous Robots
Reinforcement Learning for Biped Locomotion
ICANN '02 Proceedings of the International Conference on Artificial Neural Networks
A VLSI Architecture for Modeling Intersegmental Coordination
ARVLSI '97 Proceedings of the 17th Conference on Advanced Research in VLSI (ARVLSI '97)
CIRA '97 Proceedings of the 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Biologically Inspired Neural Controllers for Motor Control in a Quadruped Robot
IJCNN '00 Proceedings of the IEEE-INNS-ENNS International Joint Conference on Neural Networks (IJCNN'00)-Volume 6 - Volume 6
Locomotion Control of a Biped Robot Using Nonlinear Oscillators
Autonomous Robots
Fast Biped Walking with a Sensor-driven Neuronal Controller and Real-time Online Learning
International Journal of Robotics Research
Adaptive Motion of Animals and Machines
Adaptive Motion of Animals and Machines
Biological Cybernetics - Special Issue: Dynamic Principles
Stable concurrent synchronization in dynamic system networks
Neural Networks
Modular Reactive Neurocontrol for Biologically Inspired Walking Machines
International Journal of Robotics Research
Adaptive Dynamic Walking of a Quadruped Robot on Natural Ground Based on Biological Concepts
International Journal of Robotics Research
Learning to Move in Modular Robots using Central Pattern Generators and Online Optimization
International Journal of Robotics Research
IEEE Transactions on Robotics
Polychaete-Like Undulatory Robotic Locomotion in Unstructured Substrates
IEEE Transactions on Robotics
Online Optimization of Swimming and Crawling in an Amphibious Snake Robot
IEEE Transactions on Robotics
An adaptive, self-organizing dynamical system for hierarchical control of bio-inspired locomotion
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
An analog CMOS central pattern generator for interlimb coordination in quadruped locomotion
IEEE Transactions on Neural Networks
Gradient calculations for dynamic recurrent neural networks: a survey
IEEE Transactions on Neural Networks
Learning to Move in Modular Robots using Central Pattern Generators and Online Optimization
International Journal of Robotics Research
Development of Adaptive Modular Active Leg (AMAL) using bipedal robotics technology
Robotics and Autonomous Systems
Adaptive Sensor-Driven Neural Control for Learning in Walking Machines
ICONIP '09 Proceedings of the 16th International Conference on Neural Information Processing: Part II
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
Temporal stabilization of discrete movement in variable environments: an attractor dynamics approach
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Coupled Van Der Pol oscillators utilised as central pattern generators for quadruped locomotion
CCDC'09 Proceedings of the 21st annual international conference on Chinese control and decision conference
Generating gaits for snake robots by annealed chain fitting and keyframe wave extraction
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Creating and modulating rhythms by controlling the physics of the body
Autonomous Robots
Minimalistic control of biped walking in rough terrain
Autonomous Robots
Information Sciences: an International Journal
Modeling gait using CPG (central pattern generator) and neural network
BioID_MultiComm'09 Proceedings of the 2009 joint COST 2101 and 2102 international conference on Biometric ID management and multimodal communication
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
The development of a biomechanical leg system and its neural control
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
A biped static balance control and torque pattern learning under unknown periodic external forces
Engineering Applications of Artificial Intelligence
Roombots: reconfigurable robots for adaptive furniture
IEEE Computational Intelligence Magazine
A study of adaptive locomotive behaviors of a biped robot: patterns generation and classification
SAB'10 Proceedings of the 11th international conference on Simulation of adaptive behavior: from animals to animats
Distributed online learning of central pattern generators in modular robots
SAB'10 Proceedings of the 11th international conference on Simulation of adaptive behavior: from animals to animats
HyperNEAT for locomotion control in modular robots
ICES'10 Proceedings of the 9th international conference on Evolvable systems: from biology to hardware
Hardware implementation of a CPG-based locomotion control for quadruped robots
ICANN'10 Proceedings of the 20th international conference on Artificial neural networks: Part II
A self-organizing map for controlling artificial locomotion
ICANN'10 Proceedings of the 20th international conference on Artificial neural networks: Part II
Learning, planning, and control for quadruped locomotion over challenging terrain
International Journal of Robotics Research
Efficient force distribution and leg posture for a bio-inspired spider robot
Robotics and Autonomous Systems
A mathematical modeling study of inter-segmental coordination during stick insect walking
Journal of Computational Neuroscience
ECAL'09 Proceedings of the 10th European conference on Advances in artificial life: Darwin meets von Neumann - Volume Part I
Flexible entrainment in a bio-inspired modular oscillator for modular robot locomotion
IWANN'11 Proceedings of the 11th international conference on Artificial neural networks conference on Advances in computational intelligence - Volume Part II
On-line frequency adaptation and movement imitation for rhythmic robotic tasks
International Journal of Robotics Research
Robotics and Autonomous Systems
CPG modulation for navigation and omnidirectional quadruped locomotion
Robotics and Autonomous Systems
A bio-inspired approach for online trajectory generation of industrial robots
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Evolving flexible joint morphologies
Proceedings of the 14th annual conference on Genetic and evolutionary computation
New automated learning CPG for rhythmic patterns
Intelligent Service Robotics
Numerical and analytical methods for synthesis of central pattern generators
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part III
Active learning of inverse models with intrinsically motivated goal exploration in robots
Robotics and Autonomous Systems
Adaptive neural oscillator with synaptic plasticity enabling fast resonance tuning
ICANN'12 Proceedings of the 22nd international conference on Artificial Neural Networks and Machine Learning - Volume Part I
Multistable phase regulation for robust steady and transitional legged gaits
International Journal of Robotics Research
A GIM-based approach for biomimetic robot motion learning
Proceedings of the Workshop at SIGGRAPH Asia
Dynamical movement primitives: Learning attractor models for motor behaviors
Neural Computation
From dynamic movement primitives to associative skill memories
Robotics and Autonomous Systems
Optimal design of neuro-mechanical oscillators
Computers and Structures
Biologically---Inspired motion pattern design of multi---legged creatures
EvoMUSART'13 Proceedings of the Second international conference on Evolutionary and Biologically Inspired Music, Sound, Art and Design
A comparison between different encoding strategies for snake-like robot controllers
EvoApplications'13 Proceedings of the 16th European conference on Applications of Evolutionary Computation
Development of a new spinning gait for a planar snake robot using central pattern generators
Intelligent Service Robotics
Single-unit pattern generators for quadruped locomotion
Proceedings of the 15th annual conference on Genetic and evolutionary computation
Reflexive stability control framework for humanoid robots
Autonomous Robots
Computational Intelligence and Neuroscience
Robotics and Autonomous Systems
Stable heteroclinic channels for slip control of a peristaltic crawling robot
Living Machines'13 Proceedings of the Second international conference on Biomimetic and Biohybrid Systems
Motor control adaptation to changes in robot body dynamics for a complaint quadruped robot
Living Machines'13 Proceedings of the Second international conference on Biomimetic and Biohybrid Systems
Piecewise linear spine for speed-energy efficiency trade-off in quadruped robots
Robotics and Autonomous Systems
Automated generation of CPG-based locomotion for robot Nao
Robot Soccer World Cup XV
Application of the "Alliance algorithm" to energy constrained gait optimization
Robot Soccer World Cup XV
Biologically inspired layered learning in humanoid robots
Knowledge-Based Systems
Construction of gait adaptation model in human splitbelt treadmill walking
Applied Bionics and Biomechanics
Applied Bionics and Biomechanics
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The problem of controlling locomotion is an area in which neuroscience and robotics can fruitfully interact. In this article, I will review research carried out on locomotor central pattern generators (CPGs), i.e. neural circuits capable of producing coordinated patterns of high-dimensional rhythmic output signals while receiving only simple, low-dimensional, input signals. The review will first cover neurobiological observations concerning locomotor CPGs and their numerical modelling, with a special focus on vertebrates. It will then cover how CPG models implemented as neural networks or systems of coupled oscillators can be used in robotics for controlling the locomotion of articulated robots. The review also presents how robots can be used as scientific tools to obtain a better understanding of the functioning of biological CPGs. Finally, various methods for designing CPGs to control specific modes of locomotion will be briefly reviewed. In this process, I will discuss different types of CPG models, the pros and cons of using CPGs with robots, and the pros and cons of using robots as scientific tools. Open research topics both in biology and in robotics will also be discussed.