TABLE 5.

Table of parameters.

v i	Inhibition effect of its self-adaptation
yj	Signal from other j-RG neurons, y j calculated as y j = max (x j,0)
w (RG,ij)	Synaptic weight of j-RG neuron and i-RG neuron
τ and T	The inner-state and self-adaptation effects
αi	sensory feedback of i-RG neuron
αi,0	Basic stimulation of the ith neuron
w (FR,ij) and w (SR,ij)	The synaptic weights of the force afferent (F i) and the swing-phase afferent (S i) of the ith leg to the jth RG neuron
w (NS,ij)	The synaptic weights of the nociceptor afferent (N i), a pain receptor that detects the condition of leg damage and sends damage stimuli to RG neurons
G STIM	The gain parameter controlling the relationship between speed stimulation S STIM and the sensory network
τ f	Frequency control parameter