Bin He and Qiang Lu


  1. [1] J. Nassour, P. Henaff, F. Benouezdou, et al., Multi-layered multi-pattern CPG for adaptive locomotion of humanoid robots, Biological Cybernetics, 108, 2014, 291–303.
  2. [2] J. Yu, M. Tan, J. Chen, et al., A survey on CPG-inspired control models and system implementation, IEEE Transactions on Neural Networks and Learning Systems, 25(3), 2014, 441–456.
  3. [3] B. He, Q. Lu, and Z. Wang, Coupling effect analysis between the central nervous system and the CPG network with proprioception, Robotica, 33(6), 2015, 1281–1294.
  4. [4] I.A. Rybak, N.A. Shevtsova, M. Lafreniere-Roula, et al., Modelling spinal circuitry involved in locomotor pattern generation: Iinsights from deletions during fictive locomotion, Journal of Physiology, 577(2), 2006, 617–639.
  5. [5] K. Matsuoka, Sustained oscillations generated by mutually inhibiting neurons with adaptation, Biological Cybernetics, 52, 1985, 367–376.
  6. [6] O. Tutsoy, CPG based RL algorithm learns to control of a humanoid robot leg, International Journal of Robotics and Automation, 30(2), 2015, 178–183.
  7. [7] L. Lundfald, C.E. Restrepo, S.J. Butt, et al., Phenotype of V2-derived interneurons and their relationship to the axon guidance molecule EphA4 in the developing mouse spinal cord, European Journal of Neuroscience, 26, 2007, 2989–3002.
  8. [8] K.J. Dougherty and O. Kiehn, Firing and cellular properties of V2a interneurons in the rodent spinal cord, Journal of Neuroscience, 30, 2010, 24–37.
  9. [9] S. A. Crone, K. A. Quinlan, L. Zagoraiou, et al., Genetic ablation of V2a ipsilateral interneurons disrupts left-right locomotor coordination in mammalian spinal cord, Neuron, 60, 2008, 70–83.
  10. [10] J. Wojcik, J. Schwabedal, R. Clewley, et al., Key bifurcations of bursting polyrhythms in 3-cell central pattern generators, Plos One, 9(4), 2014, e92918.
  11. [11] T. Iwasaki, J. Chen, and W.O. Friesen, Biological clockwork underlying adaptive rhythmic movements, Proceeding of the National Academy of Sciences of the United States of America, 111(3), 2014, 978–983.
  12. [12] N. Dominici, Y. P. Ivanenko, G. Cappellini, et al., Locomotor primitives in newborn babies and their development, Science, 334, 2011, 997–999.
  13. [13] Y.P. Ivanenko, N. Dominici, and G. Cappellini, Changes in the spinal segmental motor output for stepping during development from infant to adult, Journal of Neuroscience, 33(7), 2013, 3025–3036.
  14. [14] J.S. Dasen, B.C. Tice, S. Brenner-Morton, et al., A Hox regulatory network establishes motor neuron pool identity and target-muscle connectivity, Cell, 123, 2005, 477–491.
  15. [15] F. Lacquaniti, Y.P. Ivanenko, and M. Zago, Patterned control of human locomotion, Journal of Physiology, 590(10), 2012, 2189–2199.
  16. [16] K. Matsuoka, Analysis of a neural oscillator, Biological Cybernetics, 104, 2011, 297–304.
  17. [17] P.F. Rowat and A.I. Selverston, Oscillatory mechanisms in pairs of neurons connected with fast inhibitory synapses, Journal of Computational Neuroscience, 4(2), 1997, 103–127.
  18. [18] B. He, Z. Wang, R. Shen, et al., Real-time walking pattern generation for a biped robot with hybrid CPG-ZMP algorithm, International Journal of Advanced Robotic Systems, 11, 2014, 160.
  19. [19] G. Taga, A model of the neuro-musculo-skeletal system for human locomotion I. Emergence of basic gait, Biological Cybernetics, 73, 1995, 97–111.
  20. [20] R. Pfeifer, M. Lungarella, and F. Iida, Self-organization, embodiment, and biologically inspired robotics, Science, 318, 2007, 1088–1093.

Important Links:

Go Back