A spinal network of proprioceptive reflexes can produce a variety of bipedal gaits.

Proprioception is crucial for movement, yet the role of proprioceptive reflexes in legged locomotion is still poorly understood. While previous simulation studies have shown great potential for reflex-based control strategies, these controllers are typically geared to specific gaits, using hand-crafted feedback pathways that are linked to specific gait phases. In this work, we explore the control capabilities of a simple reflex controller that consists of only homonymous and antagonistic length and force feedback pathways with constant gains. This control model can be considered a highly simplified subset of spinal control rather than an attempt to emulate all spinal control functions. Despite its simplicity, we found our control framework capable of producing a wide variety of natural gaits, including walking and hopping, forwards and backwards, and running in different variations and at different velocities - without requiring any rhythmic inputs or high-level state machines modulating the feedback gains. Our work highlights the important role and flexibility of proprioceptive reflexes and suggests a necessary re-evaluation of their role in locomotion. Due to its simplicity and flexibility, our control framework provides a solid basis for the development of higher-level neuromuscular control systems.