# CPG-ENN: A Trainable CPG Framework for Quadruped Locomotion

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/emxwn07mr1wx0fnm1bevpeyoo
- Original: https://arxiv.org/abs/2610.36537

## Summary

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.