The simulation framework is composed of three parts: the spiking-neuron controller, the muscle actuation and the skeleton. The spiking-neuron controller receives the external inputs (sensory information and high-level commands) and sends out a series of spiking trains during each motion cycle and activates the muscle contraction. Each skeleton joint is connected with a pair of antagonistic muscles, generating the appropriate torques and resulting in the forward movements of the virtual insect. The parameters of the neuron controller and muscle actuation are updated with the technique of evolutionary algorithm, with the captured data of real insects. The overall algorithm of our method is presented in Fig. 1(a).Figure 1(a) Algorithm flowchart. (b) Block diagram of neural system.