Neurological disorders affect millions globally and necessitate advanced treatments, especially with an aging population. Brain Machine Interfaces (BMIs) and neuroprostheses show promise in addressing disabilities by mimicking biological dynamics through biomimetic Spiking Neural Networks (SNNs). Central Pattern Generators (CPGs) are small neural networks that, emulated through biomimetic networks, can replicate specific locomotion patterns. Our proposal involves a real-time implementation of a biomimetic SNN on FPGA, utilizing biomimetic models for neurons, synaptic receptors and synaptic plasticity. The system, integrated into a snake-like mobile robot where the neuronal activity is responsible for its locomotion, offers a versatile platform to study spinal cord injuries. Lastly, we present a preliminary closed-loop experiment involving bidirectional interaction between the artificial neural network and biological neuronal cells, paving the way for bio-hybrid robots and insights into neural population functioning.