Abstract
It is known that a lamprey brainstem receives efference copies from the central pattern generator (CPG), by which the control signal from the brainstem to the CPG is modulated. We therefore discuss the feedback control system of a lamprey CPG in this article. Three topics are focused on. First, it is shown by a model of two oscillators that phasic control of the CPG is effective in controlling the phase difference between oscillators. Second, a feedback-control mechanism of a lamprey CPG through a brainstem is discussed, giving consideration to the signal conduction time. We will explain that the CPG is capable of conserving the constant-phase relation in spite of the change in frequency when the brainstem receives the efference copy from the CPG and sends control signals to the neck region. Third, a learning scheme to acquire an appropriate control system for locomotion is proposed.
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