Influence of loading parallel to the body axis on the walking coordination of an insect

It is often reported in the early literature that insects walk with the legs protacting in diagonal pairs rather than the triplet of three legs associated with the tripod step pattern. The diagonal pattern implies that legs of the same segment have a phase relationship significantly different from 0.5. Such a pattern of leg recovery has been demonstrated quantitatively for the stick insect (Graham, 1972). Such patterns occur in several insects and systematic asymmetry can even be detected in the earliest quantitative study on cockroaches (Hughes, 1957) when the animals are walking slowly. More recently Spirito and Mushrush (1979) have reported systematic deviations from a phase of 0.5 similar to those observed in stick insects. Asymmetry has also been quantitatively demonstrated in Katydids (Graham, 1978) and has recently been observed in Mantid walking (Thomson, personal communication). This phenomenon seems to be a general characteristic of slow walking coordination in insects. In stick insects asymmetry only becomes obvious in gait II at slow speeds although there can be systematic differences in ipsilateral coordination on right and left sides even at the highest speeds in this gait (Graham, 1972).     

Walking in the American cockroach: the timing of motor activity in the legs during straight walking

The timing of bursts of motor activity in extensor muscles in the coxae of pairs of legs in intact freely walking American cockroaches was studied. The timing of bursts in adjacent and non-adjacent leg pairs generally reflected the common alternating tripod gait of these insects. Detailed study of the timing further revealed two previously unreported features. (1) The timing of extensor bursts in the middle legs relative to bursts in the rear legs was more variable than it was relative to those in the front legs. This difference in variability was statistically significant for the means of bursts when all insects were considered together as well as for bursts in individual insects. An apparent difference in variability of the timing of burst starts compared to burst ends for any one leg pair was not significant. (2) There was a shift in the timing of motor bursts relative to one another when an insect walked fast such that motor bursts in the middle legs tended to lag farther behind those in the front legs, and those in the rear legs tended to lag farther behind those in the middle legs compared to the timing during slow walking. This shift was apparent in both burst starts and burst ends, although more obvious in the former. It occurred in both ipsilateral and contralateral leg pairs, and in both the mean data and the data for individual insects. The implications of these characteristics of the timing data are discussed in terms of the neural organization of insect walking.     

Ants swimming in pitcher plants: kinematics of aquatic and terrestrial locomotion in Camponotus schmitzi

Camponotus schmitzi ants live in symbiosis with the Bornean pitcher plant Nepenthes bicalcarata. Unique among ants, the workers regularly dive and swim in the pitcher's digestive fluid to forage for food. High-speed motion analysis revealed that C.?schmitzi ants swim at the surface with all legs submerged, with an alternating tripod pattern. Compared to running, swimming involves lower stepping frequencies and larger phase delays within the legs of each tripod. Swimming ants move front and middle legs faster and keep them more extended during the power stroke than during the return stroke. Thrust estimates calculated from three-dimensional leg kinematics using a blade-element approach confirmed that forward propulsion is mainly achieved by the front and middle legs. The hind legs move much less, suggesting that they mainly serve for steering. Experiments with tethered C.?schmitzi ants showed that characteristic swimming movements can be triggered by submersion in water. This reaction was absent in another Camponotus species investigated. Our study demonstrates how insects can use the same locomotory system and similar gait patterns for moving on land and in water. We discuss insect adaptations for aquatic/amphibious lifestyles and the special adaptations of C.?schmitzi to living on an insect-trapping pitcher plant.     

Motor output to the protractor and retractor coxae muscles in stick insects walking on a treadwheel

ABSTRACT. The motor output to the protractor and retractor mucles moving the coxa of the middle leg of Carausius morosus was recorded from the thoracic nerves during walking on a treadwheel. The leg movements on the wheel were generally similar to those found in free-walking animals, but tripod coordination was relatively independent of period, and the coordination of the adult animal on the wheel was most closely related to that found in free-walking first instars. The activity of a common inhibitor and four excitatory axons of the retractor and an excitatory axon of the protractor were followed for 850 steps (in six animals) to give a summary of the behaviour of the different units. The motor activity is less stereotyped than that previously reported for insects. There was strong reciprocity between the antagonists, but this was not directly correlated with the forward and backward movements of the legs. The first part of the stance phase of the leg was accompanied by a strong burst in the protractor nerve and relatively little retractor activity. This was followed by the main retractor burst which occupied the last 60% of the stance phase. The results are compared with motor output records of the locust and with earlier force-plate measurements on the stick insect. It must be concluded that the mesothoracic leg initially resists forward movement of the body by the other legs during a typical walking step.     

Speed dependent phase shifts and gait changes in cockroaches running on substrates of different slipperiness

Background

Many legged animals change gaits when increasing speed. In insects, only one gait change has been documented so far, from slow walking to fast running, which is characterised by an alternating tripod. Studies on some fast-running insects suggested a further gait change at higher running speeds. Apart from speed, insect gaits and leg co-ordination have been shown to be influenced by substrate properties, but the detailed effects of speed and substrate on gait changes are still unclear. Here we investigate high-speed locomotion and gait changes of the cockroach Nauphoeta cinerea, on two substrates of different slipperiness.

Results

Analyses of leg co-ordination and body oscillations for straight and steady escape runs revealed that at high speeds, blaberid cockroaches changed from an alternating tripod to a rather metachronal gait, which to our knowledge, has not been described before for terrestrial arthropods. Despite low duty factors, this new gait is characterised by low vertical amplitudes of the centre of mass (COM), low vertical accelerations and presumably reduced total vertical peak forces. However, lateral amplitudes and accelerations were higher in the faster gait with reduced leg synchronisation than in the tripod gait with distinct leg synchronisation.

Conclusions

Temporally distributed leg force application as resulting from metachronal leg coordination at high running speeds may be particularly useful in animals with limited capabilities for elastic energy storage within the legs, as energy efficiency can be increased without the need for elasticity in the legs. It may also facilitate locomotion on slippery surfaces, which usually reduce leg force transmission to the ground. Moreover, increased temporal overlap of the stance phases of the legs likely improves locomotion control, which might result in a higher dynamic stability.

     

Semiaquatic Heteroptera locomotion: coral treaders (Hermatobates weddi, Hermatobatidae), sea skaters (Halovelia septentrionalis, Veliidae), and water striders (Metrocoris histrio, Gerridae). Usual and unusual gaits

Using high-speed video recordings, we carried out an analysis of the locomotion gaits of the following aquatic Heteroptera: coral treaders Hermatobates weddi (Hermatobatidae), sea striders Halovelia septentrionalis (Veliidae), and water striders Metrocoris histrio (Gerridae), in the Island of Amami Oshima, Kagoshima Prefecture, Japan. Most insects use an alternating double tripod gait for walking, whereas species of Gerridae and some Veliidae use a synchronous rowing gait. We found that H. weddi used a peculiar locomotion gait, a modification of the double tripod gait. In this special gait, two alternating dipods (mid and hind legs) are used, while the forelegs remained inactive. Contralateral mid and hind stroked simultaneously. The mid leg recovered immediately after the stroke; however, the hind leg was delayed and remained extended after the stroke. Next, the following bipod stroked, and when that mid leg finished the stroke, both ipsilateral mid and hind (the one which did not recover after the stroke) legs recovered together. Turning is also unique in H. weddi because the body axis rotation and the course turning (deflection) were clearly separated in two phases. We compared the kinematics of H. weddi pattern with the synchronous rowing pattern found in H. septentrionalis and M. histrio and discussed some biomechanical consequences. We also analyzed phylogenetic implications of this gait, and we posit that the modified double dipod gait is a uniquely derived character of the family Hermatobatidae. The synchronous rowing gait would be an autapomorphy for the clade Gerridae + Veliidae. The modified thorax, with the meso and metacoxae horizontally directed, would be a synapomorphy for the superfamily Gerroidea (Hermatobatidae, Gerridae, and Veliidae). Handling editor: Koen Martens     

Kinematics and motor activity during tethered walking and turning in the cockroach, <Emphasis Type="Italic">Blaberus discoidalis</Emphasis>

When insects turn from walking straight, their legs have to follow different motor patterns. In order to examine such pattern change precisely, we stimulated single antenna of an insect, thereby initiating its turning behavior, tethered over a lightly oiled glass plate. The resulting behavior included asymmetrical movements of prothoracic and mesothoracic legs. The mesothoracic leg on the inside of the turn (in the apparent direction of turning) extended the coxa-trochanter and femur-tibia joints during swing rather than during stance as in walking, while the outside mesothoracic leg kept a slow walking pattern. Electromyograms in mesothoracic legs revealed consistent changes in the motor neuron activity controlling extension of the coxa-trochanter and femur-tibia joints. In tethered walking, depressor trochanter activity consistently preceded slow extensor tibia activity. This pattern was reversed in the inside mesothoracic leg during turning. Also for turning, extensor and depressor motor neurons of the inside legs were activated in swing phase instead of stance. Turning was also examined in free ranging animals. Although more variable, some trials resembled the pattern generated by tethered animals. The distinct inter-joint and inter-leg coordination between tethered turning and walking, therefore, provides a good model to further study the neural control of changing locomotion patterns.     

Molecular gradients along the proximal-distal axis of embryonic insect legs: possible guidance cues of pioneer axon growth.

It has been proposed that gradients of environmental cues direct the proximal growth of pioneer axons in embryonic insect legs. Hybridoma techniques have been used to produce 3 monoclonal antibodies (mAbs) that bind to components associated with the basal lamina/extracellular matrix that are non-uniformly distributed along the proximal-distal axis of cockroach legs at the time of pioneer axon growth. Two of these mAbs, PROD-1 and PROD-2, label the proximal parts of the leg more intensely than the distal ends. The other mAb, DIP-1, has the reverse pattern of binding with the distal parts of the leg labeled more intensely. The graded distribution of these antigens only occurs just prior to and during the growth period of the Ti1 pioneer axons. Western blot analyses and immunoprecipitations have identified the protein antigens recognized by these mAbs. The spatial and temporal distributions of these molecules in the legs and the CNS make them good candidates for environmental guidance cues of pioneer axon growth.     

Projection of sensory neurons from a homeotic mutant appendage,Antennapedia, in Drosophila melanogaster

Central projections of sensory neurons from homeotic mutant appendages (Antennapedia) of Drosophila melanogaster were compared with those of wild-type antennae and wild-type legs by means of degeneration and cobalt backfilling methods. Sensory axons originating from wild-type thoracic legs terminate within the ventral ipsilateral half of the corresponding neuropile segment and do not project to the brain. Sensory fibers from the third antennal segment (AIII) of wild-type animals project into the ipsilateral antennal glomerulus (AG) and to a lesser extent into the contralateral AG, whereas those from the second antennal segment terminate principally within the ipsilateral posterior antennal center. The sensory terminals of femur, tibia, and tarsi of the homeotic leg show a distribution very similar to that of the homologous wild-type antennal segment AIII, differing to a minor degree only in the size and precise localization of terminals within the antennal glomeruli. No degenerating axons were evident in ultrastructural examination of neck connectives after removal of homeotic legs. It is thus very improbable that any sensory fibers of the homeotic leg project to normal leg projection areas in the thoracico-abdominal ganglion. Several alternative explanations are offered for the apparent retention of antennal specificity by axons from the transformed appendage.     

Control of climbing behavior in the cockroach, Blaberus discoidalis. II. Motor activities associated with joint movement

Deathhead cockroaches employ characteristic postural strategies for surmounting barriers. These include rotation of middle legs to re-direct leg extension and drive the animal upward. However, during climbing the excursions of the joints that play major roles in leg extension are not significantly altered from those seen during running movements. To determine if the motor activity associated with these actions is also unchanged, we examined the electromyogram activity produced by the slow trochanteral extensor and slow tibial extensor motor neurons as deathhead cockroaches climbed over obstacles of two different heights. As they climbed, activity in the slow trochanteral extensor produced a lower extension velocity of the coxal-trochanteral joint than the same frequency of slow trochanteral extensor activity produces during horizontal running. Moreover, the pattern of activity within specific leg cycles was altered. During running, the slow trochanteral extensor generates a high-frequency burst prior to foot set-down. This activity declines through the remainder of the stance phase. During climbing, motor neuron frequency no longer decreased after foot set-down, suggesting that reflex adjustments were made. This conclusion was further supported by the observation that front leg amputees generated even stronger slow trochanteral extensor activity in the middle leg during climbing movements.     

Coordination of legs during straight walking and turning in Drosophila melanogaster

Leg coordination of Drosophila melanogaster was studied using frame-by-frame film analysis. 1. For fastest walking alternating tripod coordination is observed which slightly deviates towards tetrapody as a function of step period. During acceleration or deceleration legs may transiently recover in diagonal pairs. 2. Mean step length increases with step frequency. 3. Mean recovery stroke duration increases with step period and plateaus beyond a period of about 110 ms. Middle legs recover significantly faster than others. 4. Ipsilateral footprints are transversally separated. 5. Walking is usually initiated in tripod coordination (frequently in combination with a turn), otherwise in an accelerating sequence which rapidly shifts towards tripod pattern. Flies can stop abruptly or decelerate over about one metachronal wave. 6. Short interruptions in walking are observed. Legs interrupted during swing phase stay lifted and finish recovery thereafter. 7. Slight changes in walking direction are obtained by altering step lengths only. Tight turns are composed of two or three phases with backward, zero and forward translatory components. In fast turning tripod coordination is maintained. Otherwise body sides can decouple widely. In all turns numbers of contralateral metachronal waves were equal. Results are compared to those for other walking insects and their relevance in screens for locomotor mutants is discussed.     

Thoracic leg motoneurons in the isolated CNS of adult Manduca produce patterned activity in response to pilocarpine,which is distinct from that produced in larvae

In the hawkmoth, Manduca sexta, thoracic leg motoneurons survive the degeneration of the larval leg muscles to innervate new muscles of the adult legs. The same motoneurons, therefore, participate in the very different modes of terrestrial locomotion that are used by larvae (crawling) and adults (walking). Consequently, changes in locomotor behavior may reflect changes in both the CNS and periphery. The present study was undertaken to determine whether motor patterns produced by the isolated CNS of adult Manduca, in the absence of sensory feedback, would resemble adult specific patterns of coordination. Pilocarpine, which evokes a fictive crawling motor pattern from the isolated larval CNS, also evoked robust patterned activity from leg motoneurons in the isolated adult CNS. As in the larva, levator and depressor motoneurons innervating the same leg were active in antiphase. Unlike fictive crawling, however, bursts of activity in levator or depressor motoneurons of one leg alternated with bursts in the homologous motoneurons innervating the opposite leg of the same segment and the leg on the same side in the adjacent segment. The most common mode of intersegmental activity generated by the isolated adult CNS resembled an alternating tripod gait, which is displayed, albeit infrequently, during walking in intact adult Manduca. A detailed analysis revealed specific differences between the patterned motor activity that is evoked from the isolated adult CNS and activity patterns observed during walking in intact animals, perhaps indicating an important role for sensory feedback. Nevertheless, the basic similarity to adult walking and clear distinctions from the larval fictive crawling pattern suggest that changes within the CNS contribute to alterations in locomotor activity during metamorphosis. Electronic Publication     

Neurogenic pacemakers in the legs of Opiliones

ABSTRACT. After autotomy, the legs of all the species of Opiliones examined, and of a Kenyan Pholcid spider, twitched spontaneously at the femoro-patellar and tibio-basitarsal joints, for periods of up to an hour. These joints lack extensor muscles, extension being achieved at the femoro-patellar joint probably by haemolymph pressure, but at the tibio-basitarsal joint of Opiliones by a cuticular spring which can extend the joint fully. Comparable twitching activity could be evoked without autotomy if the central nervous system was burnt, or by asphyxiation. Electromyograms from the femur or tibia of an isolated twitching leg showed regular motor bursts which accompanied flexions, and sensory activity during extension. Forced movements of the joints did not perturb the rhythm of the motor bursts. An isolated proximal half of a femur could still generate the same bursting pattern whereas no other region showed this activity after its isolation. Bursts recorded in the tibia were shown to be dependent on the integrity of the femur. By stimulation of the femur with 1 -ms current pulses it was possible to reset the rhythm. Stimulation with 1-s pulses caused an acceleration or inhibition of the rhythm according to the direction of the current. Spontaneous bursts could be evoked in silent isolated legs, or in intact quiescent legs, by similar 1-s current pulses. It is postulated that the femur contains independent neurogenic pacemakers which are activated by injury current from the damaged leg nerve; they produce regular bursts of motor impulses without the interplay of proprioceptive loops, and are responsible for the movements observed.     

Leg kinematics and muscle activity during treadmill running in the cockroach, Blaberus discoidalis : I. Slow running

We have combined high-speed video motion analysis of leg movements with electromyogram (EMG) recordings from leg muscles in cockroaches running on a treadmill. The mesothoracic (T2) and metathoracic (T3) legs have different kinematics. While in each leg the coxa-femur (CF) joint moves in unison with the femur-tibia (FT) joint, the relative joint excursions differ between T2 and T3 legs. In T3 legs, the two joints move through approximately the same excursion. In T2 legs, the FT joint moves through a narrower range of angles than the CF joint. In spite of these differences in motion, no differences between the T2 and T3 legs were seen in timing or qualitative patterns of depressor coxa and extensor tibia activity. The average firing frequencies of slow depressor coxa (Ds) and slow extensor tibia (SETi) motor neurons are directly proportional to the average angular velocity of their joints during stance. The average Ds and SETi firing frequency appears to be modulated on a cycle-by-cycle basis to control running speed and orientation. In contrast, while the frequency variations within Ds and SETi bursts were consistent across cycles, the variations within each burst did not parallel variations in the velocity of the relevant joints. Accepted: 24 May 1997     

Walking in Aretaon asperrimus

This article describes basic parameters characterizing walking of the stick insect Aretaon asperrimus to allow a comparative approach with other insects studied. As in many other animals, geometrical parameters such as step amplitude and leg extreme positions do not vary with walking velocity. However, the relation between swing duration and stance duration is quite constant, in contrast to most insects studied. Therefore, velocity profiles during swing vary with walking velocity whereas time course of leg trajectories and leg angle trajectories are independent of walking velocity. Nevertheless, A. asperrimus does not show a classical tripod gait, but performs a metachronal, or tetrapod, gait, showing phase values differing from 0.5 between ipsilateral neighbouring legs. As in Carausius morosus, the detailed shape of the swing trajectory may depend on the form of the substrate. Effects describing coordinating influences between legs have been found that prevent the start of a swing as long as the posterior leg performs a swing. Further, the treading on tarsus reflex can be observed in Aretaon. No hint to the existence of a targeting influence has been found. Control of rearward walking is easiest interpreted by maintaining the basic rules but an anterior-posterior reversal of the information flow.     

On the evolution of raptorial legs – an insect example (Hemiptera: Reduviidae: Phymatinae)

The presence of chelate and subchelate fore legs in Phymatinae (Hemiptera: Reduviidae), or ambush bugs, provides a unique opportunity to study the evolution of different types of raptorial legs in a closely related group of arthropods. Themonocorini have simple, possibly raptorial legs, Phymatini and Macrocephalini distinct subchelate fore legs, and the charismatic Carcinocorini are the only insects with a chelate fore leg apart from female dryinid Chysidoidea (Hymenoptera). Relationships between the four phymatine tribes are here analyzed in a cladistic framework thus permitting testable hypotheses on the evolution of raptorial legs. The presented analysis of phymatine tribal level relationships is based on a dataset comprising 11 species of Phymatinae and 54 non‐phymatine Reduviidae and Heteroptera. The molecular data set consists of ～3500 MAFFT aligned bases of 16S, 28S D2–D3, and 18S ribosomal genes. Parsimony and maximum likelihood analyses resulted in identical topologies for the ingroup with the relationships Themonocorini + (Phymatini + (Carcinocorini + Macrocephalini)) receiving high support values. Eleven morphological characters, eight of them derived from fore leg morphology, were optimized on the parsimony analysis. These optimizations indicate that the ancestral ambush bug had a simple raptorial leg; that size reduction of the tarsus, enlargement of the femur, curvature of the fore tibia, armature of tibia and femur with rows of tiny tubercles that allow for gripping of a prey insect, and the large process on the ventral surface of the femur arose in the common ancestor of Carcinocorini + Macrocephalini + Phymatini. The chelate leg in Carcinocorini is likely derived from a subchelate precursor similar to the one seen in recent Macrocephalini and may have evolved through elongation of the ventral, proximal portion of the fore femur and modification of the median process to form part of the digitus fixus. © The Willi Hennig Society 2010.     

Regeneration of appendages in the large milkweed bug, Oncopeltus fasciatus

An analysis was made of the regeneration of legs and antennae of Oncopeltus. Amputations were performed on first instar larvae within 24 hr after hatching, and on later instars within 24 hr after ecdysis. The resulting regenerates were then measured at each instar. When amputations were performed soon after hatching, there was no significant effect on the duration of any instar. The regenerate was usually visible after the second post-operative ecdysis, and was smaller than a normal appendage (hypomorphic). Removal of the three distal segments of the antenna usually resulted in regeneration of only one segment which was abnormally long and showed a combination of the bristle patterns characteristic of the two most distal segments of the control. In a few such cases a partial intersegmental membrane was present in the regenerated segment. Removal of the tarsus resulted in a structurally complete regenerate which was smaller than the control tarsus. The largest leg regenerates were obtained when amputation was performed through the tibia. With amputation through the femur, a decrease in length of the remainder of this segment was observed after the first ecdysis. This type of amputation and amputation through the trochanter in some cases resulted in the formation of a globular stump containing tarsal claws. The results indicate that amputation of part of an appendage in Oncopeltus does not stimulate an increased growth rate in the stump, but merely causes reorganization of the stump material which subsequently grows at the normal rate. Since even the most hypomorphic regenerates contained well-formed claws, even though proximal parts were missing, it appears that the reorganization process must begin at the most distal point and proceed proximally.     

Larva-adult relationships in an ancestral dipteran: A re-examination of sensillar pathways across the antenna and leg anlagen of Chaoborus crystallinus (DeGeer, 1776; Chaoboridae)

 In one of his classical studies on insect metamorphosis, Weismann compared the imaginal anlagen of the ancestral phantom midge, Chaoborus, with those of advanced brachycerans. We have expanded his findings on the relationships between larval and imaginal organs using electron microscopy and cobalt backfilling of the antenna and leg anlagen and the axonal trajectories of corresponding larval sensilla. We show that both primordia are confluent with the larval antennae and ”leg” sensilla (an ancestral Keilin organ), respectively. These fully developed larval organs represent the distal tips of the imaginal anlagen rather than separate cell clusters. The axons of the larval antenna and leg sensilla project across the corresponding anlagen to their target neuromeres within the central nervous system (CNS). Within the discs, nerves composed of these larval axons, developing afferent fibres and efferences ascending from the CNS are found. Both the structure of the primordia and the axonal trajectories thus relate the situation found in advanced brachycerans with that seen in more ancestral insects. In addition, the larval antennae, legs, wings and even the eyes possess very similar afferent pioneer trajectories supporting the idea that the described pattern is generally used in the ontogeny of sensory systems. Received: 30 June 1998 / Accepted: 27 September 1998     

三种华枝断肢再生的研究

目(竹节虫目)的昆虫具有很强的断肢再生能力。该文通过对华枝属(Sinophasma spp)三种昆虫的实验,表明其再生能力与断肢发生的时间及数量有关。断肢1只或2只的1～4龄虫体发育至成虫期或至若虫末龄时,其再生足的长度与相应的正常足长度相近。若在5龄初时断肢1～2只,也具有再生能力,但至成虫期其再生足的长度则短于相对应的正常足。若在6龄及成虫时断肢,则无再生能力（若6龄时出现断肢再生,则若虫期多为7龄）。实验结果还表明,若断肢为3只或3只以上,则虫体不能存活,且多在断肢后2～3 d内死亡。观察中尚发现,再生足生长速度明显高于正常足。而且,断肢的龄期越高,再生足生长速度越快。再生足的伸长生长与正常足一样,均出现于虫体蜕皮时。     

Central organization of common inhibitory motoneurons in the locust: role of afferent signals from leg mechanoreceptors

Intracellular recordings of mesothoracic common inhibitory neurons (CI₁, CI₂ and CI₃) were made while tactile hairs of the middle legs of locusts (Locusta migratoria) were mechanically stimulated. Generally the three common inhibitory neurons were excited by stimulation of tactile hairs on the ventral and dorsal surface of femur and tibia. The response pattern of all three CI neurons was similar suggesting that they work as a functional unit. Touching hairs on the dorsal surface of tibia and tarsus in some cases led to inhibition of CIs. The connection between sensory cells of tactile hairs and common inhibitory neurons is polysynaptic.To identify interneurons which mediate afferent signals, simultaneous intracellular recordings from CIs and interneurons were made. Different spiking interneurons were identified which made excitatory or inhibitory monosynaptic connections with CIs. Interneurons with inhibitory input to CIs belonged to the ventral midline group of spiking local interneurons. Behavioral and electrophysiological results indicate that reflex movements of the leg are accompanied by activity of CI neurons. Further it appears that CI activity is inhibited when reflex movements of the leg are actively suppressed by the animal.Abbreviations CI common inhibitor - IN interneuron - LY Lucifer Yellow