Dynamics, stability, and control of stepping.

The dynamics, stability, and control of stepping are considered. The role of internal models is elaborated. The main objective of the paper is to provide a better understanding of the machinery and processing in the central nervous system (CNS) that relates to stepping.

Rhythmic Movement of a Pair of One-Link Arms: Coordination by Intermittent Control.

This paper considers the coordination and control of periodic movements of a pair of one-link arms. The system consists of two one-link arms each controlled by two muscle-like actuators. The muscle-like actuators are activated by simulated neural inputs.