The rhythmic movement is a spontaneous behavior due to the central pattern generator(CPG).At present,the CPG model only shows the spontaneous behavior,butdoes not refer to the instruction regulation role of the cerebral cortex.In this paper,a modified model based on the Matsuoka neural oscillator theory is presented to better show the regulation role of the cerebral cortex signal to the CPG neuronal network.The complex interaction between the in put signal and other parameters in the CPG networkis established,making all parameters of the CPG vary with the input signal.In this way,the effect of the input signal to the CPG network is enhanced so that the CPG network can express the self-regulation movement state instead of being limited to the spontaneous behavior,and thus the regulation role of the cerebral cortex signal can be reffected.Numerical simulation shows that the modified model can generate various movement forms with different modes,frequencies,and interchanges between them.It is revealed in theories that the cerebral cortex signal can regulate the mode and frequency of the gait in the course of the gait movement. The rhythmic movement is a spontaneous behavior due to the central pattern generator (CPG). At present, the CPG model only shows the spontaneous behavior, but do not refer to the instruction regulatory role of the cerebral cortex. This paper, a modified model based on the Matsuoka neural oscillator theory is presented to better show the regulatory role of the cerebral cortex signal to the CPG neuronal network. The complex interaction between the in put signal and other parameters in the CPG network established, making all parameters of the CPG vary with the input signal. In this way, the effect of the input signal to the CPG network is enhanced so that the CPG network can express the self-regulation movement state instead of being limited to the spontaneous behavior, and thus the regulatory role of the cerebral cortex signal can be reffected. Numerical simulation shows that the modified model can generate various movement forms with different modes, frequencies, and interchanges between them. I t is revealed in theories that the cerebral cortex signal can regulate the mode and frequency of the gait in the course of the gait movement.