 Abstract anilid worms possess central pattern generators, CPGs, which allow them to move with coordinated deformations of their body segments. These CPGs can be used to create a variety of gates, including those that are temporally symmetric or asymmetric. By introducing temporal asymmetry into these gates, the authors were able to improve the robot's locomotion performance. Furthermore, they developed a CPG-based controller that allows the robots to switch between different gates without any abrupt changes, allowing them to better adapt to changing environments. This article was authored by Qin Yanzhou, Jiansu, and Hongbin Feng.