Figure 2: The figure shows the regular output spikes pattern from the serial circular excitatory CPG neurons (graphics A to C), which is the exact topology we used in our experiments. The mathematical neural dynamic behind these neurons is the same as the other spiking cells. When the CPG spike coincides with the sensory spikes (graphics D to F), the membrane potential of the decision neurons (graphics G to I) reaches the threshold for a spike emission (see the AS process in a complete SNN architecture 4).