The functional unit for dorsoventral switching.

<p>(A) The dorsoventral switching model is made up of inhibitory motoneurons and two negative feedback loops. (B) Heatmap of muscle deformation. The vertical axis means inputs are different. Note that the relative strength of input is calculated by <i>u</i>₂/<i>u</i>₁. (C) Heatmap of muscle deformation. The weights of synapses from excitatory motoneurons (EMN) to muscles are different between the dorsal and ventral sides. Furthermore, three types of connections, synapses from excitatory to inhibitory motoneurons (IMN), synapses between inhibitory motoneurons, and negative feedback are ablated, respectively. Relative connection strength is calculated by <i>w</i>_<i>d</i>/<i>w</i>_<i>v</i>. <i>w</i>_<i>v</i> is the optimized parameter at ventral side.</p>