CPG (central pattern generator) and entrainment dynamics together form a promising framework for robust and adaptive behavior generation for a high degree of freedom system in unstructured environment. This paper investigates its possibility inthe domain of biped robotic locomotion. We extend a previous work on biped locomotion using neural oscillators to 3D, introducing many more degrees of freedom and complexity in control. While the complexity of the problem has been increased, we havesimplified the internal neural mechanism compared to the original 2D work. Our fully dynamic 3D simulation experiments showed that our mechanism can generate 3D stable biped stepping motion as well as tolerance against external perturbations.
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