Figure 1: Dynamic of the AS mechanism and CPG topologies. (a) First, a stimulus is perceived from a sensory neuron. Then, the spikes emission from the sensory neuron targets all decision neurons, conserving a neutral aspect in the choice of possible actions to come. Finally, when the sensory input coincides with the CPG input at the decision neuron, the linked action will be performed (alternatively switching between actions). (b) In , the CPG represents the serial circular excitatory topology we used in this work. In , we show one option among several possibilities of tuning differently the internal neural parameters such as the postpotential state value, the refractory period, and the length of the neural curves. In , we show an all-to-all reciprocal inhibitory CPG circuit built with endogenous pacemaker neurons. In , we still keep the pacemaker neurons in the CPG but it is now linked with excitatory synapses. Overall, (b) (comparative spike bars in the same time scale on the right side) demonstrates the diversity of the output patterns reflected in different CPG, derived from small structural and functional changes.