Mathematical analysis and simulations of the neural circuit for locomotion in lampreys.

We analyze the dynamics of the neural circuit of the lamprey central pattern generator. This analysis provides insight into how neural interactions form oscillators and enable spontaneous oscillations in a network of damped oscillators, which were not apparent in previous simulations or abstract phase oscillator models. We also show how the different behavior regimes (characterized by phase and amplitude relationships between oscillators) of forward or backward swimming, and turning, can be controlled using the neural connection strengths and external inputs.