CPG-based locomotion control of a quadruped robot with an active spine

Yunlong Lian*, Tianyuan Wang, Joe Ingham, Mark Andrew Post, Andy Tyrrell

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Central pattern generators (CPGs) are neural networks re-
sponsible for producing rhythmic behaviours and are commonly found in
both vertebrate and invertebrate animals. This paper proposes a novel
internal feedback mechanism for a CPG model designed to generate leg-
spine coordinated locomotion in a quadruped robot with an active spine.
This mechanism enables the CPG to independently control the frequency
and amplitude of the stance and swing durations while also modifying the
definition of stance and swing phases to generate more gaits. The CPG
model’s results are demonstrated on a simulated ”tensegrity quadruped
robot” called TQbot, which features a flexible spine with 3 degrees of
freedom (DOF). By adjusting the parameters, the CPG model can gen-
erate gaits with leg-spine coordination and uses the spine for turning.
Original languageEnglish
Title of host publicationTowards Autonomous Robotic Systems (TAROS) 2023 Conference
EditorsFumiya Iida, Arsen Abdulali, Mingfeng Wang
Publication statusPublished - 15 Sept 2023
Event24th Towards Autonomous Robotic Systems Conference (TAROS) - Cambridge, United Kingdom
Duration: 13 Sept 202315 Sept 2023


Conference24th Towards Autonomous Robotic Systems Conference (TAROS)
Abbreviated titleTAROS
Country/TerritoryUnited Kingdom
Internet address

Bibliographical note

This is an author-produced version of the published paper. Uploaded in accordance with the University’s Research Publications and Open Access policy.

Cite this