{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,15]],"date-time":"2026-09-15T17:44:42Z","timestamp":1789494282325,"version":"build-2803163510"},"reference-count":36,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2025,9,22]],"date-time":"2025-09-22T00:00:00Z","timestamp":1758499200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100004731","name":"Natural Science Foundation of Zhejiang Province","doi-asserted-by":"publisher","award":["ZCLTGG24E0501"],"award-info":[{"award-number":["ZCLTGG24E0501"]}],"id":[{"id":"10.13039\/501100004731","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004731","name":"Natural Science Foundation of Zhejiang Province","doi-asserted-by":"publisher","award":["2024-028"],"award-info":[{"award-number":["2024-028"]}],"id":[{"id":"10.13039\/501100004731","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100011259","name":"State Key Laboratory of Robotics","doi-asserted-by":"publisher","award":["ZCLTGG24E0501"],"award-info":[{"award-number":["ZCLTGG24E0501"]}],"id":[{"id":"10.13039\/501100011259","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100011259","name":"State Key Laboratory of Robotics","doi-asserted-by":"publisher","award":["2024-028"],"award-info":[{"award-number":["2024-028"]}],"id":[{"id":"10.13039\/501100011259","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Biomimetics"],"abstract":"<jats:p>Existing research has preliminarily achieved stable walking in humanoid robots; however, natural human-like leg motion and adaptive capabilities in dynamic environments remain unattained. This paper proposes a bionic central pattern generator (CPG) gait generation method based on Kimura neurons. The method maps the CPG output to the spatial motion patterns of the robot\u2019s center of mass (CoM) and foot trajectory, modulated by 22 undetermined parameters. To address the vague physical interpretation of CPG parameters, the strong neuronal coupling, and the difficulty of decoupling, this research systematically optimized the CPG parameters by defining an objective function that integrates dynamic balance performance with step constraints, thereby enhancing the naturalness and coordination of gait generation. To further enhance the walking stability of the robot under varying road curvatures, a vestibular reflex mechanism was designed based on the Tegotae theory, enabling real-time posture adjustment during slope walking. To validate the proposed approach, a virtual simulation platform and a physical humanoid robot system were constructed to comparatively evaluate motion performance on flat terrain and slopes with different gradients. The results show that the energy consumption characteristics of robot-coordinated gait are highly consistent with the energy-saving mechanism of human natural motion. In addition, the established reflection mechanism significantly improves the motion stability of the robot in slope transition, and its excellent stability margin and environmental adaptability are verified by simulation and experiment.<\/jats:p>","DOI":"10.3390\/biomimetics10090637","type":"journal-article","created":{"date-parts":[[2025,9,22]],"date-time":"2025-09-22T12:08:03Z","timestamp":1758542883000},"page":"637","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Bio-Inspired Central Pattern Generator for Adaptive Gait Generation and Stability in Humanoid Robots on Sloped Surfaces"],"prefix":"10.3390","volume":"10","author":[{"given":"Junwei","family":"Fang","sequence":"first","affiliation":[{"name":"College of Metrology Measurement and Instrument, China Jiliang University, Hangzhou 310018, China"},{"name":"The State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yinglian","family":"Jin","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8955-4055","authenticated-orcid":false,"given":"Binrui","family":"Wang","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China"},{"name":"The Zhejiang Province Key Laboratory of On-Line Testing Equipment Calibration Technology Research, China Jiliang University, Hangzhou 310018, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kun","family":"Zhou","sequence":"additional","affiliation":[{"name":"The State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, China"},{"name":"College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mingrui","family":"Wang","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8173-787X","authenticated-orcid":false,"given":"Ziqi","family":"Liu","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2025,9,22]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"779","DOI":"10.1038\/s41586-024-07697-2","article-title":"On human-in-the-loop optimization of human\u2013robot interaction","volume":"633","author":"Slade","year":"2024","journal-title":"Nature"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Ma, Z., Wang, Y., Zhang, T., and Liu, J. 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