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