Coupled nonlinear oscillators and the symmetries of animal gaits

@article{Collins1993CoupledNO,
  title={Coupled nonlinear oscillators and the symmetries of animal gaits},
  author={James J. Collins and I. N. Stewart},
  journal={Journal of Nonlinear Science},
  year={1993},
  volume={3},
  pages={349-392}
}
SummaryAnimal locomotion typically employs several distinct periodic patterns of leg movements, known as gaits. It has long been observed that most gaits possess a degree of symmetry. Our aim is to draw attention to some remarkable parallels between the generalities of coupled nonlinear oscillators and the observed symmetries of gaits, and to describe how this observation might impose constraints on the general structure of the neural circuits, i.e. central pattern generators, that control… 

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