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. 2021 Apr 12;8:562524. doi: 10.3389/frobt.2021.562524

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Copyright © 2021 Saputra, Takesue, Wada, Ijspeert and Kubota.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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The single-rhythm CPG model with a two-layered CPG. The rhythm generator neurons received feedback signals from a force sensor, a pain receptor, and a swing sensor in each leg.