The long term objective of our research is to use the knowledge from biological studies on animal locomotion and establish a new paradigm for control design that realizes robust, adaptive, and autonomous systems. As a very first step, this paper proposes a new dynamical model of a single neuron, given by a specific class of the Lur’e systems, and show that the model makes a good tradeoff between the simplicity and the accuracy when compared with the existing models. The Lur’e neuron model is intended for adoption as a basic unit in biologically inspired control systems.