Fig. 12From: Conditions for Multi-functionality in a Rhythm Generating Network Inspired by Turtle ScratchingUseful trajectories for deriving sufficient conditions for a stable rostral rhythm. The solid black line denotes the flow forward from \((h_{\mathrm {SN}},s_{\mathrm {SN}})\). Dashed black lines indicate flows forward from two points \((h_{\max}, s_{\mathrm {SN}})\) and \((h_{\min}(I),s_{\mathrm {SN}})\). The dotted black line represents a backward flowBack to article page