The descending spinal projecting system of the lamprey is of interest because it includes axons that activate swimming pattern generators and because regeneration of this system is involved in the behavioral recovery of lampreys following spinal transection. However, little is known about the true size of this projection and of the distribution of its terminations along the spinal cord. Brain neurons with spinal projections were studied in larval sea lampreys by using wholemount preparations labeled retrogradely with horseradish peroxidase (HRP) from spinal injections at 10%, 15%, 25%, 50%, 70%, and 75% of body length from the anterior end. Neurons projecting to different levels of the spinal cord were mapped. A large number of descending axons terminated within nine segments caudal to the last gill. The spinal projection system was divided into 10 bilateral groups based on cytoarchitectural landmarks. All of the lateral nuclear groups had contralateral spinal projections. In addition to the 12 pairs of Müller cells, the pair of Mauthner cells, and the pair of auxiliary Mauthner cells described by previous authors, the study revealed four pairs of smaller neurons that were individually identifiable.

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We have developed a biomimetic robot based on the American lobster. The robot is designed to achieve the performance advantages of the animal model by adopting biomechanical features and neurobiological control principles. Three types of controllers are described. The first is a state machine based on the connectivity and dynamics of the lobster central pattern generator (CPG). The state machine controls myomorphic actuators based on shape memory alloys (SMAs) and responds to environmental perturbation through sensors that employ a labelled-line code. The controller supports a library of action patterns and exteroceptive reflexes to mediate tactile navigation, obstacle negotiation and adaptation to surge. We are extending this controller to neuronal network-based models. A second type of leg CPG is based on synaptic networks of electronic neurons and has been adapted to control the SMA actuated leg. A brain is being developed using layered reflexes based on discrete time map-based neurons.

Lobsters are generalist decapods that evolved in a broad variety of niches in the Northwestern Atlantic. Due to their inherent buoyancy they have acquired adaptations to reduced traction and surge. We have developed a biomimetic robot based on the lobster that features artificial muscle actuators and sensors employing labeled-line codes. The central controller for this robot is based on the command neuron, coordinating neuron central pattern generator model. A library of commands is released by sensor feedback to mediate adaptive sequences and goal achieving behavior. Rheotaxic behaviors can mediate adaptations to achieve some of the advantages of the biological models.