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The entrainment property of the CPG is exploited for adaptive walking in the absence of <jats:italic>a priori<\/jats:italic> knowledge of walking conditions, and the sensory feedback is applied to modulate the generated trajectories online to improve walking adaptability and stability. The developed control strategy is verified using a humanoid robot on sloped terrain and shows good performance.<\/jats:p>","DOI":"10.1017\/s0263574721000795","type":"journal-article","created":{"date-parts":[[2021,6,22]],"date-time":"2021-06-22T07:52:22Z","timestamp":1624348342000},"page":"762-779","source":"Crossref","is-referenced-by-count":22,"title":["Humanoid adaptive locomotion control through a bioinspired CPG-based controller"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6804-3539","authenticated-orcid":false,"given":"Chenpeng","family":"Yao","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chengju","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Li","family":"Xia","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ming","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qijun","family":"Chen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2021,6,22]]},"reference":[{"key":"S0263574721000795_ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neunet.2008.03.014"},{"key":"S0263574721000795_ref36","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574714002008"},{"key":"S0263574721000795_ref11","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574716000011"},{"key":"S0263574721000795_ref24","doi-asserted-by":"publisher","DOI":"10.1016\/S1672-6529(16)60329-3"},{"key":"S0263574721000795_ref20","doi-asserted-by":"crossref","unstructured":"[20] Shachykov, A. , Shuliak, O. and Hnaff, P. , \u201cClosed-Loop Central Pattern Generator Control of Human Gaits in Opensim Simulator,\u201d 2019 International Joint Conference on Neural Networks (IJCNN) (2019) pp. 1\u20138.","DOI":"10.1109\/IJCNN.2019.8852163"},{"key":"S0263574721000795_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2015.2459913"},{"key":"S0263574721000795_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2015.2497250"},{"key":"S0263574721000795_ref5","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00894.2014"},{"key":"S0263574721000795_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2015.2425359"},{"key":"S0263574721000795_ref17","first-page":"1","article-title":"Learning to walk: Bio-mimetic hexapod locomotion via reinforcement based spiking central pattern generation","volume":"10","author":"Lele","year":"2020","journal-title":"IEEE J. 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