<p>Proprioception is crucial for movement, yet the role of proprioceptive reflexes in legged locomotion is still poorly understood. 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 – 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.</p>