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SG-CPG: Severity-Gated Central Pattern Generators for Adaptive Quadruped Locomotion under Continuous Actuator Degradation

arXiv · AI, language, vision and robotics · article · Sep 22, 2026 · UTC

An animal with a weakened limb does not necessarily switch its gait, instead it unloads the affected limb, re-coordinates the remaining limbs, and scales its response with injury severity. This graded adaptation allows locomotion to persist despite partial loss of limb strength, rather than requiring a discrete transition between healthy and failed. Inspired by this behavior, we propose SG-CPG, a central pattern generator (CPG) for quadruped locomotion under continuous actuator degradation. SG-CPG preserves a frozen healthy CPG policy and introduces two severity-driven gates: a residual gate t

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