Fig. 11From: Conditions for Multi-functionality in a Rhythm Generating Network Inspired by Turtle ScratchingUseful trajectories for deriving sufficient conditions for a stable pocket rhythm. Solid black lines are flows forward from a known point. Dotted black lines represent backward flows. Left: the conditions that arise when a flow is initiated from \(s_{\mathrm {SN}}\). Right: the conditions that arise when a flow is initiated from \(s_{\mathit {ER}}^{\min}(I)\) Back to article page