ArticleNature communications2026
Artificial plateau neurons with in-situ spike-malleability for rhythmic quadrupedal locomotion.
Article in Nature communications, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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Abstract
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.
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