🧠 Matsuoka Half-Centre Oscillators: Gait Rhythm from Drive and Inhibition (2D)

A spinal network of four neurons, a flexor and an extensor for each leg, with mutual inhibition and slow self-adaptation, drives a walking figure. Choose the tonic drive, time constants, adaptation, the flexor-extensor inhibition and the left-right coupling, and see the legs alternate, the stride grow with drive while the step rate stays put, and the rhythm vanish when inhibition is too weak. Plots show the hip angles, their phase portrait, the amplitude and the period against drive. Four in-page numerical checks.