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<p>The central pattern generator (CPG) not only regulates the rhythmic movements of biological organisms but also provides a theoretical basis for the control of bio-inspired robots, and its function depends on the coordinated interaction of fundamental neural motifs. In this paper, we introduce time delays into three Hindmarsh-Rose (HR) neuron models to identify and describe three asymmetric delayed bursting 3-HR network motifs. Using the phase-lag method, we reveal how time delay drives the transition of synchrony patterns across different motifs. Based on the delay regulation mechanism, we not only successfully replicate the CPG rhythms of locust flight and melibe swimming, but also, through CPG network reconstruction, generate two fault-tolerant gaits for a leg-malfunction hexapod robot. The results of this study provide a new paradigm for both biological motion and bionic control in CPG networks.</p>

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Coupling delays regulate synchrony patterns to replicate the function of CPG networks

  • 期刊论文

  • 发表日期：

    2026年2月24日

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  • Caihong Song,
  • Zigen Song,
  • Qingzhao Kong,
  • Xiuting Sun,
  • Jian Xu

摘要

The central pattern generator (CPG) not only regulates the rhythmic movements of biological organisms but also provides a theoretical basis for the control of bio-inspired robots, and its function depends on the coordinated interaction of fundamental neural motifs. In this paper, we introduce time delays into three Hindmarsh-Rose (HR) neuron models to identify and describe three asymmetric delayed bursting 3-HR network motifs. Using the phase-lag method, we reveal how time delay drives the transition of synchrony patterns across different motifs. Based on the delay regulation mechanism, we not only successfully replicate the CPG rhythms of locust flight and melibe swimming, but also, through CPG network reconstruction, generate two fault-tolerant gaits for a leg-malfunction hexapod robot. The results of this study provide a new paradigm for both biological motion and bionic control in CPG networks.