Exploring a type of central pattern generator based on Hindmarsh-Rose model: From theory to application

Dingguo Zhang, Qing Zhang, Xiangyang Zhu

Research output: Contribution to journalArticle

10 Citations (Scopus)


This paper proposes the idea that Hindmarsh-Rose (HR) neuronal model can be used to develop a new type of central pattern generator (CPG). Some key properties of HR model are studied and proved to meet the requirements of CPG. Pros and cons of HR model are provided. A CPG network based on HR model is developed and the related properties are investigated. We explore the bipedal primary gaits generated by the CPG network. The preliminary applications of HR model are tested on humanoid locomotion model and functional electrical stimulation (FES) walking system. The positive results of stimulation and experiment show the feasibility of HR model as a valid CPG.

Original languageEnglish
Article number1450028
JournalInternational Journal of Neural Systems
Issue number1
Publication statusPublished - 1 Feb 2015


  • bipedal locomotion
  • central pattern generator
  • Hindmarsh-Rose model
  • neuronal network
  • walking control

ASJC Scopus subject areas

  • Computer Networks and Communications

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