Locomotion is one of the most basic abilities in animals. Neurobiologists have established that locomotion results from the activity of half-center oscillators that provides alternation of bursts. Central Pattern Generators (CPGs) are neural networks capable of producing rhythmic patterned outputs without rhythmic sensory or central input. We propose a network of several biomimetic CPGs using biomimetic neuron model and synaptic plasticity. This network is implemented on a FPGA (Field Programmable Gate Array). We designed one unsupervised snake robot using this network of CPG. It is composed of one head wagon and 7 slave wagon. Infrared sensors are also embedded in the head wagon. This robot can reproduce the locomotion of one snake. The hardware robot is also described in this paper.