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. Author manuscript; available in PMC: 2011 Dec 1.
Published in final edited form as: IEEE Trans Neural Netw. 2010 Oct 18;21(12):1950–1962. doi: 10.1109/TNN.2010.2083685

Fig. 9.

Fig. 9

Results from software optimization of CPG parameters. Discussed under Section V-A. (a) Stage II optimization results where the simulated network was configured to oscillate at walking frequencies between 0.5 and 3.5 Hz. (b) Stage III optimization results where the network was configured for various phase differences between 10 and 90° at a walking frequency of 1 Hz. (c) Stage III results where the network was configured for a 45° phase difference across all walking frequencies. (d) Stage III results where the network was configured for a 90° phase difference across all walking frequencies.