Mathematical models for the swimming pattern of a lamprey

A significant characteristic in a swimming pattern of a lamprey is the generation of a constant phase lag along its body in spite of the wide range of undulation frequencies. In this paper, we discuss a mathematical treatment for coupled oscillators with time-delayed interaction and propose a model for the central pattern generator (CPG) of a lamprey to account for the generation of a constant phase relation, with consideration of the signal conduction time. From this model, it is suggested that the desired phase relation can be produced by long ascending connections from the tail to the neck region of the CPG.

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