Preset Bank

Speed-specific spinal modules recruited by cortical drive. One knob controls gait. Biology's gear-selection architecture.

Nature 2026: V2a interneurons form discrete speed modules. The cortex doesn't tune individual parameters — it selects which circuit bank to activate.

Speed:

Architecture

Drive Cortex

8 sensors, 4 hidden neurons, 1 output. The cortex reads terrain and body state, outputs a single drive level (0-1). Hebbian plasticity tunes the mapping.

Module Bank

Five pre-wired CPG presets (crawl, creep, walk, march, run) with recruitment thresholds. Drive exceeds threshold, module activates. Soft blending prevents discontinuous switching.

Module Thresholds

crawl 0.00 creep 0.15 walk 0.35 march 0.60 run 0.82