Abstract
All animals have sets of moving parts that need to work together in some sort of cyclic order. This is achieved using neural circuits known as central pattern generators (CPGs). In most animals, these adapt to the environment - heart rate, for example, responds to stress. In most of today's robots, they do not. In this talk I will present ongoing work on a bio-inspired quadruped robot that can entrain its movement to rhythmic stimuli. Initial results suggest that one key property of biological neurons - firing rate that increases with input - is sufficient to allow entrainment in a relatively simple CPG with evolutionary optimization. I will then sketch out how scaling up to mult