Brown 1911 / Grillner 1985: spinal CPG generates rhythmic limb-pattern without descending input; lamprey swimming model; mammalian half-center oscillator + reciprocal inhibition.
Brown 1911 / Grillner 1985: spinal CPG generates rhythmic limb-pattern without descending input; lamprey swimming model; mammalian half-center oscillator + reciprocal inhibition.