  All vertebrates are capable of performing various types of physical activity.
Locomotor patterns are created by the cyclical coordinated work of the skeletal
muscles. The organization of such a system in living organisms is responsible
for networks of interconnected populations of neurons capable of forming
rhythmic activity - CPG. As biologists have established, CPG is a key mechanism
causing adaptive and versatile locomotion in animals. Using a system based on
biological principles as a controller for robotic devices will avoid many of
the problems that are present in standard control loops. In particular, it
becomes possible not only plausible modeling and study of the peculiarities of
animal locomotion (in simple cases), but also smooth switching between
different types of activity depending on environmental conditions, i.e.
creation of autonomous adaptive systems. In this review, a description of the
work of recent years is given, in which the CPG is used as a controller for
various robotic animals. We focused on the views showing undulating movements,
i.e. floating and amphibians. Each separate section deals with a certain kind.
At the same time, the works are arranged in the chronological order of their
publication. At the end of each section, there is a summary that categorizes
the articles described by the type of CPG used.
