A Central pattern generator to control a pyloric-based system

A central pattern generator (CPG) is built to control a mechanical device ( plant) inspired by the pyloric chamber of the lobster. Conductance-based mo dels are used to construct the neurons of the CPG. The plant has an associa ted function that measures the amount of food flowing through it per unit o f time. We search for the best set of solutions that give a high positive f low of food in the maximization function. The plant is symmetric and the mo del neurons are identical to avoid any bias in the space of solutions. We f ind that the solution is not unique and that three neurons are sufficient t o produce positive how. We propose an effective principle for CPGs (effecti ve on-off connectivity) and a few predictions to be corroborated in the pyl oric system of the lobster.