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Compared with wheeled mobile robots, legged robots can easily step over obstacles and walk through rugged ground. They have more flexible bodies and therefore, can deal with complex environment. Nevertheless, some other issues make the locomotion control of legged robots a much complicated task, such as the redundant degree of freedoms and balance keeping. From literatures, locomotion control has been solved mainly based on programming mechanism. To use this method, walking trajectories for each leg and the gaits have to be designed, and the adaptability to an unknown environment cannot be guaranteed. From another aspect, studying and simulating animals' walking mechanism for engineering application is an efficient way to break the bottleneck of locomotion control for legged robots. This has attracted more and more attentions. Inspired by central pattern generator (CPG), a control method has been proved to be a successful attempt within this scope. In this paper, we will review the biological mechanism, the existence evidences, and the network properties of CPG. From the engineering perspective, we will introduce the engineering simulation of CPG, the property analysis, and the research progress of CPG inspired control method in locomotion control of legged robots. Then, in our research, we will further discuss on existing problems, hot issues, and future research directions in this field. biological inspired control, central pattern generator (CPG), locomotion control

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A support vector machine (SVM) plays a prominent role in classic machine learning, especially classification and regression. Through its structural risk minimization, it has enjoyed a good reputation in effectively reducing overfitting, avoiding dimensional disaster, and not falling into local minima. Nevertheless, existing SVMs do not perform well when facing class imbalance and large-scale samples. Undersampling is a plausible alternative to solve imbalanced problems in some way, but suffers from soaring computational complexity and reduced accuracy because of its enormous iterations and random sampling process. To improve their classification performance in dealing with data imbalance problems, this work proposes a weighted undersampling (WU) scheme for SVM based on space geometry distance, and thus produces an improved algorithm named WU-SVM. In WU-SVM, majority samples are grouped into some subregions (SRs) and assigned different weights according to their Euclidean distance to the hyper plane. The samples in an SR with higher weight have more chance to be sampled and put to use in each learning iteration, so as to retain the data distribution information of original data sets as much as possible. Comprehensive experiments are performed to test WU-SVM via 21 binary-class and six multiclass publically available data sets. The results show that it well outperforms the state-of-the-art methods in terms of three popular metrics for imbalanced classification, i.e., area under the curve, F-Measure, and G-Mean.