A neuronal net coordinating varying gaits and walk cycle phases in polypods

A neuronal net which provides coordination for a certain gait and for separate phases of the walking cycle, and which ensures an appropriate functional order (phase relations corresponding to normal walking in polypods), is discussed. The intersegmental neuronal subnet generates temporal windows during which this or that limb may be moved to another position (the swing phase in the step cycle). At the same time, local subnets control some portion of the states of the whole system