Gait simulations with biologically-inspired central pattern generators and reflexes

Our aim is to create a biologically inspired control architecture for human gait. This work combines reflexes with feedforward input from the spine. Reflexes were based on Geyer and Herr [1], except for the vastus, where a stretch reflex was modelled. Additionally, a spinal architecture with a rhythm generator and four central pattern generators (CPGs) was designed, based on biological evidence of CPG control in humans. This biologically inspired controller can simulate human gait.