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Volume 10
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Article

Enhancing Legged Robot Locomotion Through Smooth Transitions Using Spiking Central Pattern Generators

by
Horacio Rostro-Gonzalez
1,2,*,
Erick I. Guerra-Hernandez
3,
Patricia Batres-Mendoza
3,
Andres A. Garcia-Granada
2,
Miroslava Cano-Lara
4 and
Andres Espinal
5
1
GEPI Research Group, IQS—School of Engineering, Ramon Llull University, Via Augusta 390, 08017 Barcelona, Spain
2
Department of Electronics Engineering, DICIS—University of Guanajuato, Carretera Salamanca—Valle de Santiago km 3.5 + 1.8 kms, Salamanca 36885, Mexico
3
Laboratory of Artificial Intelligence, Robotics and Control, Faculty of Biological Systems and Technological Innovations, Benito Juárez Autonomous University of Oaxaca, Oaxaca 68120, Mexico
4
Department of Mechatronics, TecNM/ITS Irapuato, Irapuato 36821, Mexico
5
Department of Organizational Studies, University of Guanajuato, Fraccionamiento 1, Col. El Establo S/N, Marfil 36250, Mexico
*
Author to whom correspondence should be addressed.
Biomimetics 2025, 10(6), 381; https://doi.org/10.3390/biomimetics10060381
Submission received: 22 April 2025 / Revised: 22 May 2025 / Accepted: 4 June 2025 / Published: 7 June 2025
(This article belongs to the Special Issue Advances in Biomimetics: Patents from Nature)
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Abstract

In this work, we propose the integration of a mechanism to enable smooth transitions between different locomotion patterns in a hexapod robot. Specifically, we utilize a spiking neural network (SNN) functioning as a Central Pattern Generator (CPG) to generate three distinct locomotion patterns, or gaits: walk, jog, and run. This network produces coordinated spike trains, mimicking those generated in the brain, which are translated into synchronized robot movements via PWM signals. Subsequently, these spike trains are compared using a similarity metric known as SPIKE-synchronization to identify the optimal point for transitioning from one gait to another. This approach aims to achieve three main objectives: first, to maintain the robot’s balance during transitions; second, to ensure that gait transitions are almost imperceptible; and third, to improve energy efficiency by reducing abrupt changes in the robot’s actuators (servomotors). To validate our proposal, we incorporated FSR sensors on the robot’s legs to detect the rigidity of the terrain it navigates. Based on the terrain’s rigidity, the robot dynamically transitions between gaits. The system was tested in real time on a physical hexapod robot across four different types of terrain. Although the method was validated exclusively on a hexapod robot, it can be extended to any legged robot.
Keywords: spiking neurons; Central Pattern Generators; legged robots; lomocotion; gait transitions spiking neurons; Central Pattern Generators; legged robots; lomocotion; gait transitions

Share and Cite

MDPI and ACS Style

Rostro-Gonzalez, H.; Guerra-Hernandez, E.I.; Batres-Mendoza, P.; Garcia-Granada, A.A.; Cano-Lara, M.; Espinal, A. Enhancing Legged Robot Locomotion Through Smooth Transitions Using Spiking Central Pattern Generators. Biomimetics 2025, 10, 381. https://doi.org/10.3390/biomimetics10060381

AMA Style

Rostro-Gonzalez H, Guerra-Hernandez EI, Batres-Mendoza P, Garcia-Granada AA, Cano-Lara M, Espinal A. Enhancing Legged Robot Locomotion Through Smooth Transitions Using Spiking Central Pattern Generators. Biomimetics. 2025; 10(6):381. https://doi.org/10.3390/biomimetics10060381

Chicago/Turabian Style

Rostro-Gonzalez, Horacio, Erick I. Guerra-Hernandez, Patricia Batres-Mendoza, Andres A. Garcia-Granada, Miroslava Cano-Lara, and Andres Espinal. 2025. "Enhancing Legged Robot Locomotion Through Smooth Transitions Using Spiking Central Pattern Generators" Biomimetics 10, no. 6: 381. https://doi.org/10.3390/biomimetics10060381

APA Style

Rostro-Gonzalez, H., Guerra-Hernandez, E. I., Batres-Mendoza, P., Garcia-Granada, A. A., Cano-Lara, M., & Espinal, A. (2025). Enhancing Legged Robot Locomotion Through Smooth Transitions Using Spiking Central Pattern Generators. Biomimetics, 10(6), 381. https://doi.org/10.3390/biomimetics10060381

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