Possible organization pattern of interaction between the generators of cyclic motor activity and inputs from supraspinal and afferent systems

Possible organization patterns of scratching and locomotor generators that allow interpretation of experimentally demonstrated reorganizations in temporal parameters of these generator activities after electrical stimulation of descending and peripheral afferent systems were analyzed with application of mathematical simulation of neuronal generator systems. The results obtained led to the conclusion that patterns of such reorganizations influenced by signals from suprasegmental and/or peripheral systems may be determined by only two factors: 1) the structure of synaptic connections between interneuronal functional groups underlying these generator associations, and 2) the structure of connections between these groups of interneurons and fibers from suprasegmental and peripheral afferent sources. The existence of inhibitory-excitatory actions from descending and afferent systems upon the neurons of locomotor or scratching generator half-centers is a sufficient condition to ensure phasic changes in the sensitivity of these generators to supraspinal and afferent signals. The locomotor generator, unlike the scratching generator, is apparently characterized by a more complex organization of connections between functional neuronal groupings and descending fibers.Translated from Neirofiziologiya, Vol. 25, No. 1, pp. 45–50, January–February, 1993.     

Influence of the pteropod mollusk pedal ganglia locomoter system on anatomically isolated neurons

It was established during experiments on pedal ganglia generating locomotor rhythm isolated fromClione limacina, a pteropod mollusk, that this rhythm was irregular in 30% of preparations; i.e., the locomotor generator worked in bursts which alternated with periods of regular activity. Locomotor bursts were produced by excitation in command neurons located within the pedal ganglia. Single neurons were extracted from the ganglia in these preparations generating locomotor bursts by means of an intracellular microelectrode; their somata were then placed in their original sites amongst the ganglia cells. A total of 35 neurons were isolated showing changed activity during bursts. Nine of these cells renewed their erratic activity (linked to locomotor bursts) following reinsertion into the ganglion. Neurons which had initially shown an excitatory pattern during bursts continued to be excited; the same was true for inhibitory types. These observations indicate that the command neurons governing generator operation can act on target cells when morphological contact with them has been suppressed.Institute for Research into Information Transmission, Academy of Sciences of the USSR, Moscow; M. V. Lomonosov State University. Moscow. Translated from Neirofiziologiya, Vol. 18, No. 6, pp. 756–763, November–December, 1986.     

Active selection of afferent information as the basic principle of peripheral correction of the activity of spinal rhythmic movement generators

This paper summarizes information obtained in the experimental study of the dynamics of polarization of central primary afferent endings and modifications of segmental responses to afferent stimuli during fictitious locomotion and fictitious scratching in immobilized, decorticated, decerebrate, and spinal cats. Fictitious locomotion was accompanied by tonic hyperpolarization, fictitious scratching by tonic depolarization of central primary afferent endings. Against the background of these long-lasting changes in primary afferent depolarization, it exhibited periodic changes in the rhythm of efferent activity. Periodic changes of depolarization were virtually in phase in different ipsilateral segments of the lumbosacral enlargement. Data on groups of afferent fibers in whose central endings tonic and phasic changes of polarization took place. The appearance of fictitious locomotion was accompanied by a tonic increase, and of fictitious scratching by tonic inhibition of several evoked segmental responses. These tonic changes were a background against which segmental responses were modulated in step with the working rhythm of the locomotion and scratching generators. Many of the changes in evoked segmental responses were shown to be based on modulation of polarization of central endings of primary afferents by locomotion and scratching generators. It is concluded that active tonic and phase-dependent selection of incoming afferent information is effected through modulation of presynaptic inhibition of the generator. The role of this selection in peripheral collection of activity of locomotion and scratching generators is discussed.A. A. Bogomolets Institute of Physiology, Academy of Sciences of the Ukrainian SSR, Kiev. Translated from Neirofiziologiya, Vol. 16, No. 3, pp. 343–353, May–June, 1984.     

Alterations produced in the quantitative characteristics of efferent activity parameters of the locomotor generator by decerebellation

Changes in the parameters of activity in hindlimb locomotor generators following decerebellation were quantified during experiments on decerebrate immobilized cats. Eliminating modulating cerebellar influences on nuclei of descending systems was found to lead to a slight increase in the length of activity in the flexor generator half-center and less intensive activity, as well as shortening of the period and more intensive activity in the extensor half-center, together with increased instability in generator operation, reduced statistical dependence between alterations in parameters of activity at the hindlimb half-center generators, and finally intensified effects of afferent inputs on generator activity. A comparison is drawn between the functional role of the spino-cerebellar loop in the operation of locomotor and scratch generators.A. A. Bogomolets Institute of Physiology, Academy of Sciences of the Ukrainian SSR, Kiev. Translated from Neirofiziologiya, Vol. 23, No. 2, pp. 142–150, March–April, 1991.     

Interaction between neurons displaying tonic response to sound and other cells of the feline auditory cortex

Interaction between neurons with a tonic response pattern and either nearby or further removed (by about 400–500 µm) cortical neurons was investigated during acute experiments on 15 immobilized cats using cross-correlation analysis techniques. Synchronizing excitatory input common to the nerve cells was found in cross-correlation histograms (CCH) in 26 out of 36 test pairs of neurons (72%). Both positive and negative cross-correlation (five pairs in each case) were discovered, pointing to mono- or polysynaptic excitatory and inhibitory effects of the tonic neuron on spike activity in the other cell from CCH of 10 pairs of neurons. The functional diversity of neurons f distinguished by a tonic pattern of response to sound was deduced on the basis of findings from this research. The theory that some tonic type cells act as excitatory neurons and others fulfil the function of inhibitory interneurons is examined.A. A. Bogomolets Institute of Physiology, Academy of Sciences of the Ukrainian SSR, Kiev. Translated from Neirofiziologiya, Vol. 21, No. 5, pp. 613–620, September–October, 1989.     

Activity of lumbosacral interneurons during fictitious scratching

Activity of lumbosacral spinal interneurons was studied during fictitious scratching in decerebrate, immobilized cats. Neurons whose activity changed during fictitious scratching were located in the substantia intermedia lateralis and ventral horn. Among these neurons cells were distinguished whose activity was modulated in rhythm with motor discharges to different muscles (61.6%) and cells which were activated tonically (21.4%) or inhibited tonically (17%). By correlation of activity with discharges to corresponding muscles the rhythmically activated neurons were divided into "aiming" (36.6%) and "scratching" (25%). Neurons whose activity was unchanged during fictitious scratching also were observed. These cells were located mainly in the more dorsal regions of gray matter. Neurons to which wide convergence of excitatory influences from high-threshold cutaneous and muscular afferents was observed were mainly placed in the "aiming" group. "Scratching" neurons, compared with "aiming," more often received inputs only from low-threshold cutaneous or high-threshold muscular afferents. Group Ia interneurons were activated in phase with the corresponding motoneurons. Passive displacement of the limb in a forward direction predominantly inhibited spike activity of the "aiming" and potentiated activity of the "scratching" neurons. The neuronal organization of the spinal scratch generator is discussed on the basis of the results.A. A. Bogomolets Institute of Physiology, Academy of Sciences of the Ukrainian SSR, Kiev. Translated from Neirofiziologiya, Vol. 13, No. 1, pp. 57–66, January–February, 1981.     

Electrophysiological study of serotoninergic neuron Cl in the pteropod mollusk Clione

Functional characteristics of cerebral serotoninergic neuron Cl, axons of which terminate at the buccal ganglia [7], were investigated in the pteropod molluskClione. Stimulating neuron Cl induced activation of the feeding rhythm generator located in the buccal ganglia — an effect arising after a long latency and persisting for some tens of seconds once stimulation had ended. Neuron Cl receives feedback from buccal ganglion cells and this brings about periodic modulation in ganglia activity during the generation of feeding rhythm. Activity of neuron Cl is correlated with operation of the locomotor rhythm generator located in the pedal ganglia. The firing rate of Cl neurons increased upon activation of the locomotor generator (whether spontaneous or induced by stimulating certain command neurons). The correlation found between workings of the locomotor generator and activity of Cl neurons is thought to be one of the manifestations of feeding synergy involving simultaneous activation of the locomotor and buccal apparatus.Institute for Research on Information Transmission, Academy of Sciences of the USSR, Moscow. M. V. Lomonosov State University, Moscow. Translated from Neirofiziologiya, Vol. 23, No. 1, pp. 18–25, January–February, 1991.     

Participation of interoceptive afferent impulses in polymodal responses of superior collicular neurons in the cat

Experiments on immobilized, unanesthetized cats showed that interoceptive afferent impulses reaching the brain via the vagus nerves evoke marked responses in, on average, 43% of superior collicular neurons. Both excitatory and inhibitory effects were observed. The latter were found more often during single stimulation of the vagus nerve. In half of the cases the inhibitory responses were characterized by the development of initial inhibition, clearly limited in time to between 180 and 1700 msec. Changes in spike activity of 60% of units were tonic in character. The onset of phasic responses with an initial period of activation was observed in only 9–11% of neurons. The number of these cells and also the total number of responding neurons were greater than when series of stimuli were applied to the vagus nerve. In individual cells during prolonged repetitive stimulation of the nerve gradual weakening of the responses took place. Somatic stimulation evoked mainly the development of phasic responses of excitatory type. Most of the neurons tested were bimodal and often the temporal structure of their responses was determined by the modality of the stimulus applied. The functional role of the changes discovered in spontaneous activity of superior collicular neurons under interoceptive influences and the central mechanisms of realization of such influences on the activity of the neuronal system in this brain structure are discussed.Ivano-Frankovsk Medical Institute, Ministry of Health of the Ukrainian SSR. Translated from Neirofiziologiya, Vol. 10, No. 6, pp. 590–596, November–December, 1978.     

The role of putative glutamatergic neurons and their connections in the locomotor central pattern generator of the mollusk, Clione limacina

In the pteropod mollusk Clione limacina, locomotor rhythm is produced by the central pattern generator (CPG), due mainly to the activity of interneurons of groups 7 (active in the phase of the dorsal flexion of the wings) and 8 (active in the phase of the ventral flexion). Each of these groups excites the neurons active in the same phase of the locomotor cycle, and inhibits the neurons of the opposite phase. In this work, the nature of connections formed by group 7 interneurons was studied. Riluzole (2-amino-6-trifluoro-methoxybenzothiazole), which is known to inhibit the presynaptic release of glutamate, suppressed the action of the type 7 interneurons onto the follower neurons of the same and of the antagonistic phase of the locomotor cycle. The main pattern of rhythmic activity of CPG with alternation of two phases could be maintained after suppression of inhibitory connections from group 7 interneurons to antagonistic neurons. This suggests redundancy of the mechanisms controlling swimming rhythm generation, which ensures the reliable operation of the system.     

Mathematical analysis of the possibility of detecting correlation between spike trains of weakly interacting neurons

The number of spikes which must be recorded in order to detect significant correlation between spike trains of two synaptically connected neurons was estimated by a mathematical model. Dependence of this number of spikes on importance of interneuronal connection (measured as the amplitude of the EPSP evoked by a single spike of the input neuron in the output cell) and on the intensity of total spontaneous excitatory influences on the output neuron and on its own parameters was studied. For cells which corresponded in the weight of connections between them, their intrinsic parameters, and characteristics of spontaneous activity to real spinal neurons, the necessary number of spikes was 10⁷–10⁸. An increase in amplitude of the single EPSP and also a decrease in the intensity of the input spontaneous spike train and parameters of after-hyperpolarization of the postsynaptic neuron led to a decrease in the number of spikes necessary for the detection of significant correlation. On the basis of the results of this and previous investigations the possible principles for construction of a spinal locomotor generator are discussed.A. A. Bogomolets Institute of Physiology, Academy of Sciences of the Ukrainian SSR, Kiev. Translated from Neirofiziologiya, Vol. 12, No. 3, pp. 290–296, May–June, 1980.     

Flexibility in the patterning and control of axial locomotor networks in lamprey

In lower vertebrates, locomotor burst generators for axial muscles generally produce unitary bursts that alternate between the two sides of the body. In lamprey, a lower vertebrate, locomotor activity in the axial ventral roots of the isolated spinal cord can exhibit flexibility in the timings of bursts to dorsally-located myotomal muscle fibers versus ventrally-located myotomal muscle fibers. These episodes of decreased synchrony can occur spontaneously, especially in the rostral spinal cord where the propagating body waves of swimming originate. Application of serotonin, an endogenous spinal neurotransmitter known to presynaptically inhibit excitatory synapses in lamprey, can promote decreased synchrony of dorsal-ventral bursting. These observations suggest the possible existence of dorsal and ventral locomotor networks with modifiable coupling strength between them. Intracellular recordings of motoneurons during locomotor activity provide some support for this model. Pairs of motoneurons innervating myotomal muscle fibers of similar ipsilateral dorsoventral location tend to have higher correlations of fast synaptic activity during fictive locomotion than do pairs of motoneurons innervating myotomes of different ipsilateral dorsoventral locations, suggesting their control by different populations of premotor interneurons. Further, these different motoneuron pools receive different patterns of excitatory and inhibitory inputs from individual reticulospinal neurons, conveyed in part by different sets of premotor interneurons. Perhaps, then, the locomotor network of the lamprey is not simply a unitary burst generator on each side of the spinal cord that activates all ipsilateral body muscles simultaneously. Instead, the burst generator on each side may comprise at least two coupled burst generators, one controlling motoneurons innervating dorsal body muscles and one controlling motoneurons innervating ventral body muscles. The coupling strength between these two ipsilateral burst generators may be modifiable and weakening when greater swimming maneuverability is required. Variable coupling of intrasegmental burst generators in the lamprey may be a precursor to the variable coupling of burst generators observed in the control of locomotion in the joints of limbed vertebrates.     

Synaptic patterning of left-right alternation in a computational model of the rodent hindlimb central pattern generator

Establishing, maintaining, and modifying the phase relationships between extensor and flexor muscle groups is essential for central pattern generators in the spinal cord to coordinate the hindlimbs well enough to produce the basic walking rhythm. This paper investigates a simplified computational model for the spinal hindlimb central pattern generator (CPG) that is abstracted from experimental data from the rodent spinal cord. This model produces locomotor-like activity with appropriate phase relationships in which right and left muscle groups alternate while extensor and flexor muscle groups alternate. Convergence to this locomotor pattern is slow, however, and the range of parameter values for which the model produces appropriate output is relatively narrow. We examine these aspects of the model’s coordination of left-right activity through investigation of successively more complicated subnetworks, focusing on the role of the synaptic architecture in shaping motoneuron phasing. We find unexpected sensitivity in the phase response properties of individual neurons in response to stimulation and a need for high levels of both inhibition and excitation to achieve the walking rhythm. In the absence of cross-cord excitation, equal levels of ipsilateral and contralateral inhibition result in a strong preference for hopping over walking. Inhibition alone can produce the walking rhythm, but contralateral inhibition must be much stronger than ipsilateral inhibition. Cross-cord excitatory connections significantly enhance convergence to the walking rhythm, which is achieved most rapidly with strong crossed excitation and greater contralateral than ipsilateral inhibition. We discuss the implications of these results for CPG architectures based on unit burst generators.     

Changes in presynaptic processes during tonic sub-threshold activation of spinal scratch generator in the cat

It was found during experiments on immobilized decerebrate (at intracollicular level) cats that tonic sub-threshold activation of the spinal generator of scratching action (following application of tubocurarine or bicuculline to segments C₁-C₂) was accompanied by depolarization of primary afferent terminals, a reduction in the N₁ component of dorsal surface potential produced by stimulating the cutaneous afferents, and a reduction in the amplitude of dorsal root potentials and lead-phase polysynaptic response produced in motoneurons by stimulating the cutaneous and muscle afferents. A rise or a reduction in the activity of interneurons belonging to the interstitial nucleus connected respectively mono- and di-(oligo)synaptically with the afferents occurred in parallel with this. Spinalization produced the same changes in reverse in the animal. By administering DOPA to the spinal animal, a comparison could be made of changes occurring in the state of the segmental apparatus of the lumbar section of the spinal cord during tonic sub-threshold activation of spinal scratch generators and locomotor movements.A. A. Bogomolets Institute of Physiology, Academy of Sciences of the Ukrainian SSR, Kiev. Translated from Neirofiziologiya, Vol. 19, No. 2, pp. 236–243, March–April, 1987.     

Responses of auditory cortex neurons in unanesthetized cats to best-frequency tones

The characteristics of extra- and intracellular responses of neurons in the AI region were studied in experiments with unanesthetized cats. It was established that auditory cortex neurons with similar best frequencies showed different forms of responses to tones of the corresponding frequency. About 40% of the auditory cortex neurons generated on responses to tone presentation. On — off and off responses were found in 27% of the neurons. Cortical neurons (27%) in which stimulation or inhibition of impulse discharge persisted throughout tone action were assigned to the tonic type group of cells. Approximately 6% of neurons in the AI region did not respond to a tone. During intracellular recording about 85% of the neurons responded to the turning on and/or off of a tone by generating an action potential followed by an IPSI. In 96% of the cortical neurons studied the IPSPs were a constant component of the intracellular responses to a tone. It is concluded that the inhibition of the impulse activity of the given neurons is of primarily a postsynaptic origin. Neurons showing one or another form of response differ from one another in the relative intensity and time characteristics of excitatory and inhibitory processes interacting on their postsynaptic membranes. In neurons of the phasic type inhibitory processes are dominant over excitatory, while excitatory processes are predominant in neurons of the tonic type.A. A. Bogomolets Institute of Physiology, Academy of Sciences of the Ukrainian SSR, Kiev. Translated from Neirofiziologiya, Vol. 17, No. 4, pp. 500–508, July–August, 1985.     

Quantitative changes in efferent activity of the scratch generator produced by eliminating influences from the descending systems

The effects of signals proceeding along descending systems of the spinal cord on the parameters of efferent activity in the scratch generator (i.e., discharges in ventral roots L₅ and L₇) were investigated in decerebrate immobilized cats. It was found that eliminating cerebellar modulatory influences on nuclei of the descending system (decerebellation) leads to an altered ratio between the activity of generator hemicenters, increased instability of generator operation, a reduced statistical relationship between alteration in parameters of hemicenter activity, and raised sensitivity to afferent signals in the generator. Complete elimination of descending system influences (after severing the spinal cord at the anterior boundary of the first cervical segment) produced a reduction in the intensity of efferent activity and in the afferent sensitivity of the scratch generator. The functional significance of descending signals for operation of the scratch generator is discussed.A. A. Bogomolets Institute of Physiology, Academy of Sciences of the Ukrainian SSR, Kiev. Translated from Neirofiziologiya, Vol. 22, No. 1, pp. 123–131, January–February, 1990.     

Neural control of heartbeat in the pteropod mollusk Clione limacina

The heart of the pteropod molluskClione limacina is innervated by the median nerve arising from the left abdominal ganglion. Five neurons sending axons to the heart have been identified in theClione central nervous system with retrograde cobalt or Lucifer yellow staining. Neuron H1 located in the left pedal ganglion produced an excitatory effect on heart beat. Stimulation of three neurons, H2–H4, situated in a compact group in the medial region of the left abdominal ganglion, led to inhibition of cardiac contraction, while H5, located in the caudal region of the left abdominal ganglion, did not affect heart beat. The activity of efferent cardiac neurons (ECN) was found to be related to the operation of the locomotor rhythm generator. Spontaneous or reflex depression of the latter was found to inhibit neuron H1 and activate units H2–H4. The behavior of these ECN accounts for the positive correlation between heart operation and locomotor activity inClione limacina.Institute of Research on Information Transmission, Academy of Sciences of the USSR, Moscow, M. V. Lomonosov State University, Moscow. Translated from Neirofiziologiya, Vol. 21, No. 2, pp. 185–192, March–April, 1989.     

Neural mechanisms generating the leech swimming rhythm: Swim-initiator neurons excite the network of swim oscillator neurons

Summary This paper describes newly identified excitatory connections linking the segmentally iterated swim-initiator interneurons with the network of oscillator neurons that generates the leech swimming rhythm. Apparently monosynaptic excitatory chemical connections are made from one class of swim-initiator neurons (cells 204/205) to several members of the swim oscillator network, including cells 28, 115 and, as described by Weeks (1982c), cell 208. A second class of swim-initiator neurons, cells 21 and 61, also excites this subset of the oscillator neurons.The unpaired swim oscillator neuron, cell 208, also chemically excites cells 28 and 115, apparently directly. Thus, in addition to its role as a member of the swim oscillator, the excitatory output from cell 208 to the swim oscillator adds to that provided by the swim-initiator neurons.The results of this paper enlarge the subset of identified swim oscillator neurons synaptically excited by the swim-initiator neurons. These newly described targets of the swim-initiators strengthen the hypotheses that: 1) the swim-initiator neurons supply much of the tonic excitatory drive responsible for activation and maintenance of the swim central motor program, and 2) the two classes of swim-initiators, cells 204/205 and cells 21/61, act synergistically to initiate and maintain swimming.Abbreviations EPSP excitatory postsynaptic potential - IPSP inhibitory postsynaptic potential - CNS central nervous system     

Rearrangement of parameters of efferent activity in generators of cyclic motor response produced by electrical stimulation of cerebellar inputs in cats

Rearrangement of the parameters of scratch and locomotor generators produced by electrical stimulation of the inferior olive and nucleus reticularis lateralis as well as the cerebellar fastigial nucleus and nucleus interpositus was investigated in decerebrate immobilized cats. Results showed that a comparable rearrangement of the time course of activity in both locomotor and scratch generators was produced by altering the nature of signals proceeding along mossy and climbing fibers alike. Maximum rearrangement of scratch and locomotor generator activity, as induced by electrical activation of the inferior olive and lateral reticular nucleus, is observed during the first half of flexor half-center operation in these generators. The scratch (unlike the locomotor) generator typically shows considerably rearranged efferent activity following electrical activation of nuclei of the cerebellum and cerebellar afferents. The article discusses mechanisms of cerebellar origin which may be responsible for exerting a corrective action on scratch and locomotor generators during change in the phase and amplitude parameters of cerebellar input signals.A. A. Bogomolets Institute of Physiology, Ukrainian Academy of Sciences, Kiev. Translated from Neirofiziologiya, Vol. 24, No. 2, pp. 131–140, March–April, 1992.     

Modulation of synaptic events by heavy metals in the central nervous system of mollusks

Summary 1. The effects of heavy metals (Pb²⁺, Hg²⁺, and Zn²⁺) on synaptic transmission in the identified neural network ofHelix pomatia L. andLymnaea stagnalis L. (Gastropoda, Mollusca) were studied, with investigation of effects on inputs and outputs as wells as on interneuronal connections.2. The sensory input running from the cardiorenal system to the central nervous system and the synaptic connections between central neurons were affected by heavy metals.3. Lead and mercury (10^–5–10^–3 M) eliminated first the inhibitory, then the excitatory inputs running from the heart to central neurons. At the onset of action lead increased the amplitude of the excitatory postsynaptic potentials, but blockade of sensory information transfer occurred after 10–20 min of treatment.4. The monosynaptic connections between identified interneurons were inhibited by lead and mercury but not by zinc. Motoneurons were found to be less sensitive to heavy metal treatment than interneurons or sensory pathways.5. The treatment with Pb²⁺ and Hg²⁺ often elicited pacemaker and bursting-type firing in central neurons, accompanied by disconnection of synaptic pathways, manifested by insensitivity to sensory synaptic influences.6. Zn²⁺ treatment also sometimes induced pacemaker activity and burst firing but did not cause disconnection of the synaptic transmission between interneurons.7. A network analysis of heavy metal effects can be a useful tool in understanding the connection between their cellular and their behavioral modulatory influences.     

Mechanisms of Left-Right Coordination in Mammalian Locomotor Pattern Generation Circuits: A Mathematical Modeling View

The locomotor gait in limbed animals is defined by the left-right leg coordination and locomotor speed. Coordination between left and right neural activities in the spinal cord controlling left and right legs is provided by commissural interneurons (CINs). Several CIN types have been genetically identified, including the excitatory V3 and excitatory and inhibitory V0 types. Recent studies demonstrated that genetic elimination of all V0 CINs caused switching from a normal left-right alternating activity to a left-right synchronized “hopping” pattern. Furthermore, ablation of only the inhibitory V0 CINs (V0_D subtype) resulted in a lack of left-right alternation at low locomotor frequencies and retaining this alternation at high frequencies, whereas selective ablation of the excitatory V0 neurons (V0_V subtype) maintained the left–right alternation at low frequencies and switched to a hopping pattern at high frequencies. To analyze these findings, we developed a simplified mathematical model of neural circuits consisting of four pacemaker neurons representing left and right, flexor and extensor rhythm-generating centers interacting via commissural pathways representing V3, V0_D, and V0_V CINs. The locomotor frequency was controlled by a parameter defining the excitation of neurons and commissural pathways mimicking the effects of N-methyl-D-aspartate on locomotor frequency in isolated rodent spinal cord preparations. The model demonstrated a typical left-right alternating pattern under control conditions, switching to a hopping activity at any frequency after removing both V0 connections, a synchronized pattern at low frequencies with alternation at high frequencies after removing only V0_D connections, and an alternating pattern at low frequencies with hopping at high frequencies after removing only V0_V connections. We used bifurcation theory and fast-slow decomposition methods to analyze network behavior in the above regimes and transitions between them. The model reproduced, and suggested explanation for, a series of experimental phenomena and generated predictions available for experimental testing.