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Bio-Inspired Central Pattern Generator for Adaptive Gait Generation and Stability in Humanoid Robots on Sloped

Junwei Fang1,2, Yinglian Jin3, Binrui Wang3,4

  • 1College of Metrology Measurement and Instrument, China Jiliang University, Hangzhou 310018, China.

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|September 26, 2025
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Summary

This study introduces a novel bionic central pattern generator (CPG) for humanoid robot gaits, optimizing parameters for natural motion and stability. A vestibular reflex enhances adaptability on slopes, achieving human-like energy efficiency and robust performance.

Keywords:
adaptive walkingcentral pattern generatorconstrained evolutionary optimizationhumanoid robotreflex regulation

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Area of Science:

  • Robotics
  • Biomimetic Engineering
  • Computational Neuroscience

Background:

  • Humanoid robot locomotion research has achieved stability but lacks natural, human-like leg motion and dynamic adaptability.
  • Existing central pattern generator (CPG) methods face challenges with parameter interpretation, neuronal coupling, and decoupling.

Purpose of the Study:

  • To develop an advanced CPG gait generation method for humanoid robots.
  • To enhance naturalness, coordination, and dynamic stability in robot walking.
  • To improve adaptive capabilities in variable terrains, specifically slopes.

Main Methods:

  • Proposed a bionic CPG gait generation method using Kimura neurons, mapping CPG output to center of mass (CoM) and foot trajectory.
  • Systematically optimized 22 CPG parameters using an objective function integrating dynamic balance and step constraints.
  • Designed a vestibular reflex mechanism based on Tegotae theory for real-time posture adjustment on slopes.

Main Results:

  • Optimized CPG parameters enhanced gait naturalness and coordination.
  • The vestibular reflex mechanism significantly improved robot stability during slope transitions.
  • Energy consumption patterns of the robot's gait closely matched human natural motion.

Conclusions:

  • The proposed bionic CPG with parameter optimization and vestibular reflex achieves more natural and stable humanoid robot locomotion.
  • The method demonstrates excellent stability margins and environmental adaptability on varied terrains.
  • This approach offers a promising direction for developing highly adaptive and human-like robotic movement.