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As a result, a range of CPGs were able to adjust their gait pattern and\/or frequency to match the input period. We show how this can be used to facilitate coordinated movement despite differences in morphology, as well as to learn new movement patterns.<\/jats:p>","DOI":"10.1088\/1748-3190\/ace017","type":"journal-article","created":{"date-parts":[[2023,6,20]],"date-time":"2023-06-20T22:39:01Z","timestamp":1687300741000},"page":"046020","update-policy":"https:\/\/doi.org\/10.1088\/crossmark-policy","source":"Crossref","is-referenced-by-count":4,"title":["Central pattern generators evolved for real-time adaptation to rhythmic stimuli"],"prefix":"10.1088","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9331-3214","authenticated-orcid":true,"given":"Alex","family":"Szorkovszky","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Frank","family":"Veenstra","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kyrre","family":"Glette","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"266","published-online":{"date-parts":[[2023,6,29]]},"reference":[{"key":"bbace017bib1","doi-asserted-by":"publisher","first-page":"642","DOI":"10.1016\/j.neunet.2008.03.014","article-title":"Central pattern generators for locomotion control in animals and robots: a review","volume":"21","author":"Ijspeert","year":"2008","journal-title":"Neural Netw."},{"key":"bbace017bib2","doi-asserted-by":"publisher","first-page":"39","DOI":"10.3389\/fnbot.2017.00039","article-title":"Adaptive control strategies for interlimb coordination in legged robots: a review","volume":"11","author":"Aoi","year":"2017","journal-title":"Front. 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