“…The ipsilaterally projecting inhibitory V1 and V2b neurons cooperate to regulate flexion and extension alternation and the timing of stance and swing phasing (Bourane et al, 2015;Zhang et al, 2014), thus functioning as integral parts of the half-center modules. The commissural V0 neurons, the ipsilateral V2a neurons and the dual-projecting V3 neurons coordinate limbcoupling and the transition to faster gaits (Bellardita and Kiehn, 2015;Crone et al, 2008Crone et al, , 2009Lanuza et al, 2004;Talpalar et al, 2013;Zhang et al, 2021). For example, when the activity of V0, V2 or V3 neurons is disrupted, mice adopt markedly altered or unstable gaits as locomotor speed increases (Bellardita and Kiehn, 2015;Crone et al, 2008Crone et al, , 2009Lanuza et al, 2004;Talpalar et al, 2013;Zhang et al, 2021).…”