The fact that these algorithms and architecture have been so successfully retargeted to such a variety of gaits and grasping suggests to me that there is an elegant core organization.
Or it could simply be that evolution uses what was already there. Better examples for your claim would be traits in unrelated species which demonstrate convergent evolution.
I suspect you misunderstand my argument, and I definitely fail to understand yours. How would convergent evolution support the claim you quoted?
... it could simply be that evolution uses what was already there.
I was assuming that. But I was also assuming something that may not be true. I was assuming that (back in the Cambrian) there were a variety of neural architectures for locomotion "already there". And that beasties using each of those architectures were offered the opportunity to adaptively radiate into new niches requiring new form...
Linky. Quotes: