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Central Pattern Generators (CPGs) are groups of neurons that produce rhythmic patterned outputs, even when they receive non-rhythmic input. CPGs do not need sensory feedback to generate rhythmic output, but sensory feedback often modulates their activity. CPGs are responsible for controlling many rhythmic motor activities across the animal kingdom, from insects to mammals. Examples of CPG-controlled movements include chewing, swallowing, breathing, sniffing, whisking, swimming, and walking. In this class, we will explore at least three common model systems for studying central pattern generation: feeding behavior in
Aplysia, locomotor behavior in the cat, and whisking and sniffing behavior in the rat. We will compare and contrast mechanical models of rhythmic activity in these systems and discuss the extent to which CPGs may (or may not) form the basis for constructing useful robots.
