Decentralized control of insect walking: A simple neural network explains a wide range of behavioral and neurophysiological results
Fig 2
Artificial neurons are depicted as colored circles. Sensory input structure for swing: green, sensory input structure for stance: blue. Common output: red. Coordination channels: brown for rules 1–3, ocher for rule 5, light yellow for rule P (Pearson rule, see Supporting information) with connections in pink (Supporting information). Motivation units: light grey (swing–stance), dark grey (forward–backward), white (central units). SRP net and its’ connections (pink) are detailed in Supporting information (S2 PDF). Joint alpha (α): Pro–protractor, Ret–retractor; joint beta (β): Lev–levator, Dep–depressor; joint gamma (γ): Flex–flexor, Ext–extensor. Black dots: inhibitory synapses, open black triangles: excitatory synapses. For detailed explanations see text and Supporting information.