Article

CPG-ENN: A Trainable CPG Framework for Quadruped Locomotion

The study proposes CPG-ENN, a quadruped locomotion framework that uses a symmetry-based eight-neuron central pattern generator (CPG) to supply gait rhythms, while a pretrained execution neural network (ENN) shared across legs maps rhythmic signals and trajectory parameters to joint-angle references without online inverse kinematics.

Part of the event: CPG-ENN: A Trainable Quadruped Locomotion Framework

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