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We analyze the dynamics of the neural circuit of the lamprey central patterngenerator (CPG). This analysis provides insights into how neural interactionsform oscillators and enable spontaneous oscillations in a network of dampedoscillators, which were not apparent in previous simulations or abstract phaseoscillator models. We also show how the different behaviour regimes(characterized by phase and amplitude relationships between oscillators) offorward/backward swimming, and turning, can be controlled using the neuralconnection strengths and external inputs.Comment: 4 pages, accepted for publication in Physical Review Letter

Mathematical Analysis and Simulations of the Neural Circuit for Locomotion in Lampreys