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While previous simulation studies have shown great potential for reflex-based control strategies, these controllers are typically geared to specific gaits, using hand-crafted feedback pathways that are linked to specific gait phases. In this work, we explore the control capabilities of a simple reflex controller that consists of only homonymous and antagonistic length and force feedback pathways with constant gains. This control model can be considered a highly simplified subset of spinal control rather than an attempt to emulate all spinal control functions. Despite its simplicity, we found our control framework capable of producing a wide variety of natural gaits, including walking and hopping, forwards and backwards, and running in different variations and at different velocities \u2013 without requiring any rhythmic inputs or high-level state machines modulating the feedback gains. Our work highlights the important role and flexibility of proprioceptive reflexes and suggests a necessary re-evaluation of their role in locomotion. Due to its simplicity and flexibility, our control framework provides a solid basis for the development of higher-level neuromuscular control systems.<\/jats:p>","DOI":"10.1038\/s42003-025-09307-x","type":"journal-article","created":{"date-parts":[[2025,12,16]],"date-time":"2025-12-16T15:22:24Z","timestamp":1765898544000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["A spinal network of proprioceptive reflexes can produce a variety of bipedal gaits"],"prefix":"10.1038","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0241-6451","authenticated-orcid":false,"given":"Elsa K.","family":"Bunz","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3480-6892","authenticated-orcid":false,"given":"Daniel F. 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