Abstract
1. 1. The mechanisms whereby rhythmic motor output from central pattern generators (CPGs) may be switched and modulated have been examined using a variety of invertebrate preparations. 2. 2. “Command” or gating neurones initiate rhythmic activity via direct connections with patterngenerating interneurones. 3. 3. Modulatory neurones have more widespread effects on the properties of the CPG network, often producing,long-lasting changes in the nature of its output. 4. 4. A subset of gating and modulatory neurones may act in concert to switch the rhythm from one functional output to another. 5. 5. CPG activity is modified by a variety of neuromodulator substances acting at the same or different sites within the network. 6. 6. Current concepts concerning the nature of CPGs are discussed.
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