Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drive

Milad Shafiee,Guillaume Bellegarda,Auke Ijspeert,Milad Shafiee,Guillaume Bellegarda,Auke Ijspeert

Quadruped animal locomotion emerges from the interactions between the spinal central pattern generator (CPG), sensory feedback, and supraspinal drive signals from the brain. Computational models of CPGs have been widely used for investigating the spinal cord contribution to animal locomotion control in computational neuroscience and in bio-inspired robotics. However, the contribution of supraspina...

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