Fig. 2
From: Information-based centralization of locomotion in animals and robots
Centralization of a coupled-oscillator model of locomotion. a We simulated this six phase oscillator network described in Eq. (3) that has been used to model the alternating tripod gait of cockroaches. b The control signal was a perturbation to a single oscillator with random amplitude. The local oscillator phase, shown in red, deviates more than other oscillators. The local state was the integrated absolute deviation from baseline of the phase velocity of the perturbed oscillator, shown by the shaded red region. The global state was similarly calculated from the average phase velocity. c For a range of coupling strengths K we calculated the mutual information between the pulse height of the perturbation and the local (IL) and global states (IL and IG, respectively). The shaded regions show the uncertainty in the estimate of mutual information
