Mathematical models of central pattern generators in locomotion: I. Current problems

As a background for subsequent studies of mathematical models of central pattern generators in locomotion (Stafford & Barnwell, 1985a, b) relevant aspects of the literature on locomotion are reviewed, concepts of locomotion discussed, and extant models considered. Advantages and disadvantages of present models are discussed, and the need for mathematical models is emphasized. It is shown that realistic models of pattern generation in locomotion must take numerous factors into account, including phases of step cycle, muscle sequencing, gait and interlimb coordination, initiation and cessation of locomotion, and many aspects of neuromuscular control and function.