An eight-neuron network for quadruped locomotion with hip-knee joint control

Yide Liu, Xiyan Liu, Dongqi Wang, Wei Yang, Shaoxing Qu, State Key Laboratory of Fluid Power , Mechatronic Systems, Key Laboratory of Soft Machines and Smart Devices of Zhejiang Provinces, Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Department of Mechanical Engineering, Tsinghua University

The International Journal of Robotics Research

Published online on August 26, 2025

Abstract

The International Journal of Robotics Research, Volume 45, Issue 4, Page 602-627, April 2026.
The gait generator, which is capable of producing rhythmic signals for coordinating multiple joints, is an essential component in the quadruped robot locomotion control framework. The biological counterpart of the gait generator is the central pattern ...