Symmetry in locomotor central pattern generators and animal gaits

@article{Golubitsky1999SymmetryIL,
  title={Symmetry in locomotor central pattern generators and animal gaits},
  author={Martin Golubitsky and Ian Stewart and Pietro-Luciano Buono and James J. Collins},
  journal={Nature},
  year={1999},
  volume={401},
  pages={693-695}
}
Animal locomotion is controlled, in part, by a central pattern generator (CPG), which is an intraspinal network of neurons capable of generating a rhythmic output1,2,3,4. The spatio-temporal symmetries of the quadrupedal gaits walk, trot and pace5,6,7,8 lead to plausible assumptions about the symmetries of locomotor CPGs9,10,11. These assumptions imply that the CPG of a quadruped should consist of eight nominally identical subcircuits, arranged in an essentially unique matter. Here we apply… 

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