Important recent advances have been made in understanding the role of aminergic modulation during the maturation of Xenopus larvae swimming rhythms, including effects on particular ion channel types of component neurons, and the role of peptidergic modulation during development of adult central patterns generators in the stomatogastric ganglion of crustaceans. By recording from octopaminergic neuromodulatory neurons during ongoing motor behavior in the locust, new insights into the role of this peripheral neuromodulatory mechanism have been gained. In particular, it is now clear that the octopaminergic neuromodulatory system is automatically activated in parallel to the motor systems, and that both excitation and inhibition play important functional roles.