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This paper proposes an adaptive CPG based controller for a lower limb prosthesis consisting of online trajectory generation and interlimb coordination. The adaptive CPG can produce multidimensional rhythmic patterns and modulate their frequency by tuning relevant parameters in an autonomously way adapting to a changing periodicity of external signals. Also, to increase the stability of the prosthesis, a spring-damper component is attached between the hip and ankle joints, allowing the absorption of impulsive ground reaction forces at landing. We verify the validity of the proposed controller with a simulated humanoid robot through the investigation of the self-coordination between the healthy and robotic legs.