Supporting Online Material: Material and Methods

This document gives the implementation details of the numerical model of the central pattern generator presented in the main article (Section 1). Section 2 presents the design characteristics of the salamander robot. Section 3 explains the methods for measuring the kinematics of salamander and robot locomotion. Finally, Section 4 analyzes recent data that show that the limb oscillators intrinsically oscillate at lower frequencies than body oscillators.