Abstract: The issue of how best to optimize Central Patterns Generators (CPG) for locomotion to generate motion for one leg with two degrees of freedom has inspired many researchers to explore the ways in which rhythmic patterns obtained by genetic algorithms may be utilized in uncoupled, unidirectional and bidirectional two CPGs. This study takes as its assumption that the focus on stability analysis to decrease variation between steps brings about better results with respect to the gait locomotion and argues that controlling the amplitude and frequency may lead to more robust results viz., stimulation for movement.