Fig. 9
From: Generalization of movements in quadruped robot locomotion by learning specialized motion data
Behaviors of neurons in hidden-layer 3 (features). In this case, the first and third features involve the periodic signal with period nearly 1[s], while the second feature generate the signal with the half period of the first and third one. These results imply that the features in hidden-layer 3 associate with the period in given gait pattern with a period 1[s] and generate the higher frequency mode with period 0.5[s]