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<p>Whole-body intelligent locomotion systems face persistent challenges of redundant actuation and poor energy efficiency, limiting real-world deployment. Bio-inspired central pattern generators offer a promising framework for rhythmic control, yet hardware implementations struggle to match the efficiency and adaptability of biological systems. Here, we introduce an in-situ spike-malleable artificial plateau neuron integrating a bistable plateau gate with a transient threshold-switch. The neuron generates amplitude-programmable rhythmic spike bursts, achieving energy-efficient, antagonistic activation of extensors and flexors via a scalable circuit comprising two paired units (plateau gate and threshold-switch). The design leverages distributed encoding for coordinated muscle control, operating at ultra-low energy dissipation (141.37 pJ/spike). An expanded four-unit circuit enhances dynamic spike malleability, enabling parallel processing for multi-joint coordination. On a quadruped robot (Unitree Go2), these distributed circuits directly drive joint-level proportional derivative controllers using the Gaussian-filtered rhythmic spikes, enabling energy-efficient trotting without centralized computation. Critically, the system achieves stable on-ground locomotion and demonstrates adaptive gait transitions in real-world environments. Our approach merges ultra-compact hardware with bio-inspired architecture, advancing neuromorphic systems for energy-efficient autonomous robotics.</p>

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Artificial plateau neurons with in-situ spike-malleability for rhythmic quadrupedal locomotion

  • 期刊论文

  • 出版模式：

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  • 发表日期：

    2026年4月28日

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  • Hailiang Wang,
  • Yishu Zhang,
  • Qingao Chai,
  • Qian He,
  • Jiayang Hu,
  • Yongqing Bai,
  • Guanyu Liu,
  • Zongwen Li,
  • Jian Chai,
  • Xin He,
  • Mengze Zhao,
  • Guodong Xue,
  • Kaihui Liu,
  • Yu Fu,
  • Huajin Tang,
  • Yang Xu,
  • Bin Yu

摘要

Whole-body intelligent locomotion systems face persistent challenges of redundant actuation and poor energy efficiency, limiting real-world deployment. Bio-inspired central pattern generators offer a promising framework for rhythmic control, yet hardware implementations struggle to match the efficiency and adaptability of biological systems. Here, we introduce an in-situ spike-malleable artificial plateau neuron integrating a bistable plateau gate with a transient threshold-switch. The neuron generates amplitude-programmable rhythmic spike bursts, achieving energy-efficient, antagonistic activation of extensors and flexors via a scalable circuit comprising two paired units (plateau gate and threshold-switch). The design leverages distributed encoding for coordinated muscle control, operating at ultra-low energy dissipation (141.37 pJ/spike). An expanded four-unit circuit enhances dynamic spike malleability, enabling parallel processing for multi-joint coordination. On a quadruped robot (Unitree Go2), these distributed circuits directly drive joint-level proportional derivative controllers using the Gaussian-filtered rhythmic spikes, enabling energy-efficient trotting without centralized computation. Critically, the system achieves stable on-ground locomotion and demonstrates adaptive gait transitions in real-world environments. Our approach merges ultra-compact hardware with bio-inspired architecture, advancing neuromorphic systems for energy-efficient autonomous robotics.