In our paper, Varkonyi et al. 2008, we derive phase oscillator models for the lamprey central pattern generator from two biophysically based segmental models. We
study intersegmental coordination and show how these models can provide stable intersegmental phase lags observed in real animals.
Varkonyi PL, Kiemel T, Hoffman K, Cohen AH, Holmes P (2008) On the derivation and tuning of phase oscillator models for lamprey central pattern generators. J Comput Neurosci 25:245-61 [PubMed]