central-pattern-generators

Where the pure feedforward story breaks: sensory entrainment, dynamic movement primitives for non-rhythmic motion, how CPGs combine with reinforcement learning in current legged robots, and the exoskeleton applications.

The experiment that put a spinal cord model in an amphibious machine: how one drive signal switches a robot from swimming to walking, and what that says about how vertebrate locomotion evolved.

How a handful of phase oscillators produce coordinated gaits: limit cycles and why they resist disturbance, phase coupling that locks oscillators into fixed relationships, and the travelling waves that swim a robot.

Walking is rhythmic, fast, and must survive disturbances no planner anticipated. The biological answer is a spinal circuit that generates rhythm without the brain, and it suggests a fundamentally different control architecture.