Figure 2: Illustrative representation of the assembly of neurons forming the autonomous neuromorphic (shown in (a)) and nonautonomous Neuromorphic (shown in (b)) controllers. “ ” notation is used for primary neuron directly controlling the actuator of the robot under control and “ ” is the secondary neuron, which aids in generating appropriate external dynamics required for the primary neuron. The numbering of the neurons in the network is arbitrarily chosen as appropriate.