Removing head ganglia in amphibious centipedes unveils descending contribution to versatile locomotor repertoire

Understanding how animals produce a versatile locomotor repertoire requires unraveling the interplay between higher centers, decentralized locomotor circuits, and sensory feedback. However, the principles governing their integration remain elusive. We investigated amphibious centipedes through stepwise neural lesions and neuromechanical modeling. Behavioral experiments revealed that while decentralized circuits autonomously generate coordination, the brain and subesophageal ganglion provide situational flexibility, such as modulating trunk undulation and initiating leg folding. Integrating these findings, our model demonstrated how higher centers selectively inhibit or release lower circuit dynamics. Simulations verified that varying only a few descending control parameters reproduces transitions between slow walking, fast walking, and swimming. This work may capture the essence of the locomotor circuitry that harnesses decentralized self-organization to coordinate the body’s large degrees of freedom.