A kinematic synergy for terrestrial locomotion shared by mammals and birds

Footfall patterns and stride parameters of Common hippopotamus (Hippopotamus amphibius) on land

Common hippopotamuses (hippos) are among the largest extant land mammals. They thus offer potential further insight into how giant body size on land influences locomotor patterns and abilities. Furthermore, as they have semi-aquatic habits and unusual morphology, they prompt important questions about how locomotion evolved in Hippopotamidae. However, basic information about how hippos move is limited and sometimes contradictory. We aimed to test if hippos trot at all speeds and if they ever use an aerial (suspended) phase, and to quantify how their locomotor patterns (footfalls and stride parameters) change with approximate speed. We surveyed videos available online and collected new video data from two zoo hippos in order to calculate the data needed to achieve our aims; gathering a sample of 169 strides from 32 hippos. No hippos studied used other than trotting (or near-trotting) footfall patterns, but at the fastest relative speeds hippos used brief aerial phases, apparently a new discovery. Hippos exhibit relatively greater athletic capacity than elephants in several ways, but perhaps not greater than rhinoceroses. Our data help form a baseline for assessing if other hippos use normal locomotion; relevant to clinical veterinary assessments of lameness; and for reconstructing the evolutionary biomechanics of hippo lineages.

Terrestrial locomotion characteristics of climbing perch (Anabas testudineus)

The evolution and utilization of limbs facilitated terrestrial vertebrate movement on land, but little is known about how other lateral structures enhance terrestrial locomotion in amphibian fishes without terrestrialized limb structures. Climbing perch (Anabas testudineus) exhibit sustained terrestrial locomotion using uniaxial rotating gill covers instead of appendages. To investigate the role of such simple lateral structures in terrestrial locomotion and the motion-generating mechanism of the corresponding locomotor structure configuration (gill covers and body undulation), we measured the terrestrial kinematics of climbing perch and quantitatively analysed its motion characteristics. The digitized locomotor kinematics showed a unique body postural adjustment ability that enables the regulation of the posture of the caudal peduncle for converting lateral bending force into propulsion. An analysis of the coordination characteristics demonstrated that the motion of the gill cover is kinematically independent of axial undulation, suggesting that the gill cover functions as an anchored simple support pole while axial undulation actively mediates body posture and produces propulsive force. The two identified feature shapes explained more than 87% of the complex lateral undulation in multistage locomotion. The kinematic characteristics enhance our understanding of the underlying coordinating mechanism corresponding to locomotor configurations. Our work provides quantitative insight into the terrestrial locomotor adaptation of climbing perch and sheds light on terrestrial motion potential of locomotor configurations containing a typical aquatic body and restricted lateral structure.

Sensorimotor delays constrain robust locomotion in a 3D kinematic model of fly walking

Walking animals must maintain stability in the presence of external perturbations, despite significant temporal delays in neural signaling and muscle actuation. Here, we develop a 3D kinematic model with a layered control architecture to investigate how sensorimotor delays constrain robustness of walking behavior in the fruit fly, Drosophila. Motivated by the anatomical architecture of insect locomotor control circuits, our model consists of three component layers: a neural network that generates realistic 3D joint kinematics for each leg, an optimal controller that executes the joint kinematics while accounting for delays, and an inter-leg coordinator. The model generates realistic simulated walking that matches real fly walking kinematics and sustains walking even when subjected to unexpected perturbations, generalizing beyond its training data. However, we found that the model's robustness to perturbations deteriorates when sensorimotor delay parameters exceed the physiological range. These results suggest that fly sensorimotor control circuits operate close to the temporal limit at which they can detect and respond to external perturbations. More broadly, we show how a modular, layered model architecture can be used to investigate physiological constraints on animal behavior.

A deep learning-based approach for unbiased kinematic analysis in CNS injury

Traumatic spinal cord injury (SCI) is a devastating condition that impacts over 300,000 individuals in the US alone. Depending on the severity of the injury, SCI can lead to varying degrees of sensorimotor deficits and paralysis. Despite advances in our understanding of the underlying pathological mechanisms of SCI and the identification of promising molecular targets for repair and functional restoration, few therapies have made it into clinical use. To improve the success rate of clinical translation, more robust, sensitive, and reproducible means of functional assessment are required. The gold standards for the evaluation of locomotion in rodents with SCI are the Basso Beattie Bresnahan (BBB) and Basso Mouse Scale (BMS) tests. To overcome the shortcomings of current methods, we developed two separate marker-less kinematic analysis paradigms in mice, MotorBox and MotoRater, based on deep-learning algorithms generated with the DeepLabCut open-source toolbox. The MotorBox system uses an originally designed, custom-made chamber, and the MotoRater system was implemented on a commercially available MotoRater device. We validated the MotorBox and MotoRater systems by comparing them with the traditional BMS test and extracted metrics of movement and gait that can provide an accurate and sensitive representation of mouse locomotor function post-injury, while eliminating investigator bias and variability. The integration of MotorBox and/or MotoRater assessments with BMS scoring will provide a much wider range of information on specific aspects of locomotion, ensuring the accuracy, rigor, and reproducibility of behavioral outcomes after SCI.

Highlights

MotorBox and MotoRater systems are two novel marker-less kinematic analysis paradigms in mice, based on deep-learning algorithms generated with DeepLabCut.MotorBox and MotoRater systems are highly sensitive, accurate and unbiased in analyzing locomotor behavior in mice.MotorBox and MotoRater systems allow for sensitive detection of SCI-induced changes in movement metrics, including range of motion, gait, coordination, and speed.MotorBox and MotoRater systems allow for detection of movement metrics not measurable with the BMS.

Human arm redundancy: a new approach for the inverse kinematics problem

The inverse kinematics (IK) problem addresses how both humans and robotic systems coordinate movement to resolve redundancy, as in the case of arm reaching where more degrees of freedom are available at the joint versus hand level. This work focuses on which coordinate frames best represent human movements, enabling the motor system to solve the IK problem in the presence of kinematic redundancies. We used a multi-dimensional sparse source separation method to derive sets of basis (or source) functions for both the task and joint spaces, with joint space represented by either absolute or anatomical joint angles. We assessed the similarities between joint and task sources in each of these joint representations, finding that the time-dependent profiles of the absolute reference frame's sources show greater similarity to corresponding sources in the task space. This result was found to be statistically significant. Our analysis suggests that the nervous system represents multi-joint arm movements using a limited number of basis functions, allowing for simple transformations between task and joint spaces. Additionally, joint space seems to be represented in an absolute reference frame to simplify the IK transformations, given redundancies. Further studies will assess this finding's generalizability and implications for neural control of movement.

Kinematics and mechanical changes with step frequency at different running speeds

PURPOSE

Running at a given speed can be achieved by taking large steps at a low frequency or on the contrary by taking small steps at a high frequency. The consequences of a change in step frequency, at a fixed speed, affects the stiffness of the lower limb differently. In this study, we compared the running mechanics and kinematics at different imposed step frequencies (from 2 step s-1 to 3.6 step s-1) to understand the relationship between kinematic and kinetic parameters.

METHODS

Eight recreational male runners ran on a treadmill at 5 different speeds and 5 different step frequencies. The lower-limb segment motion and the ground reaction forces were recorded. Mechanical powers, general gait parameters, lower-limb movements and coordination were investigated.

RESULTS

At low step frequencies, in order to limit the magnitude of the ground reaction force, the vertical stiffness is reduced and thus runners deviate from an elastic rebound. At high step frequencies, the stiffness is increased and the elastic rebound is optimised in its ability to absorb and restore energy during the contact phase.

CONCLUSION

We studied the consequences of a change in step frequency on the bouncing mechanics of running. We showed that the lower limb stiffness and the intersegmental coordination of the lower-limb segments are affected by running step frequency rather than speed. The runner rather adapts their lower limb stiffness to match a step frequency for a given speed than the opposite.

Generating variability from motor primitives during infant locomotor development

Motor variability is a fundamental feature of developing systems allowing motor exploration and learning. In human infants, leg movements involve a small number of basic coordination patterns called locomotor primitives, but whether and when motor variability could emerge from these primitives remains unknown. Here we longitudinally followed 18 infants on 2-3 time points between birth (~4 days old) and walking onset (~14 months old) and recorded the activity of their leg muscles during locomotor or rhythmic movements. Using unsupervised machine learning, we show that the structure of trial-to-trial variability changes during early development. In the neonatal period, infants own a minimal number of motor primitives but generate a maximal motor variability across trials thanks to variable activations of these primitives. A few months later, toddlers generate significantly less variability despite the existence of more primitives due to more regularity within their activation. These results suggest that human neonates initiate motor exploration as soon as birth by variably activating a few basic locomotor primitives that later fraction and become more consistently activated by the motor system.

Overground gait kinematics and muscle activation patterns in the Yucatan mini pig

Objective The objectives of this study were to assess gait biomechanics and the effect of overground walking speed on gait parameters, kinematics, and electromyographic (EMG) activity in the hindlimb muscles of Yucatan Minipigs (YMPs). Approach Nine neurologically-intact, adult YMPs were trained to walk overground in a straight line. Whole-body kinematics and EMG activity of hindlimb muscles were recorded and analyzed at 6 different speed ranges (0.4-0.59, 0.6-0.79, 0.8-0.99, 1.0-1.19, 1.2-1.39, and 1.4-1.6 m/s). A MATLAB program was developed to detect strides and gait events automatically from motion-captured data. The kinematics and EMG activity were analyzed for each stride based on the detected events. Main results Significant decreases in stride duration, stance and swing times and an increase in stride length were observed with increasing speed. A transition in gait pattern occurred at the 1.0m/s walking speed. Significant increases in the range of motion of the knee and ankle joints were observed at higher speeds. Also, the points of minimum and maximum joint angles occurred earlier in the gait cycle as the walking speed increased. The onset of EMG activity in the biceps femoris muscle occurred significantly earlier in the gait cycle with increasing speed. Significance YMPs are becoming frequently used as large animal models for preclinical testing and translation of novel interventions to humans. A comprehensive characterization of overground walking in neurologically-intact YMPs is provided in this study. These normative measures set the basis against which the effects of future interventions on locomotor capacity in YMPs can be compared.

Injectable hydrogel microspheres with self-renewable hydration layers alleviate osteoarthritis

Introducing hydration layers to hydrogel microspheres (HMs) by coating the surface with liposomes can effectively reduce friction. However, the lubrication can be inactivated when the surface coatings are damaged. To endow HMs with the ability to form self-renewable hydration layers and maintain cellular homeostasis, rapamycin-liposome-incorporating hyaluronic acid-based HMs (RAPA@Lipo@HMs) were created using microfluidic technology and photopolymerization processes. The RAPA@Lipo@HMs improve joint lubrication by using a smooth rolling mechanism and continuously exposing liposomes on the outer surface to form self-renewable hydration layers via frictional wear. In addition, the released autophagy activator (rapamycin)-loaded cationic liposomes can target negatively charged cartilage through electrostatic interactions and maintain cellular homeostasis by increasing autophagy. Furthermore, the in vivo data showed that the RAPA@Lipo@HMs can alleviate joint wear and delay the progression of osteoarthritis. The RAPA@Lipo@HMs can provide efficient lubrication and potentially alleviate friction-related diseases such as osteoarthritis.

Behavioral illusions: The Snark is a Boojum

A behavioral illusion is a regularity of behavior that appears to reflect something about the functional characteristics of an organism when it does not. This illusion occurs when the methods appropriate to the study of an open-loop or zero feedback (Z)-system are used to study the behavior of what is, in fact, a closed-loop or negative feedback (N)-system. The situation is like the one described in Lewis Carroll’s The Hunting of the Snark, where the sought-after Snark—analogous to the actual organism function—looks just like the feared Boojum—analogous to the illusory one. This article describes examples of three different kinds of behavioral illusion and explains how researchers can avoid the mistake of taking a Boojum for a Snark by reorienting the study of behavior toward identifying the perceptual variables that organisms control and away from seeking regularities in their overt behavior.

Characterization and Categorization of Various Human Lower Limb Movements Based on Kinematic Synergies

A proper movement categorization reduces the complexity of understanding or reproducing human movements in fields such as physiology, rehabilitation, and robotics, through partitioning a wide variety of human movements into representative sub-motion groups. However, how to establish a categorization (especially a quantitative categorization) for various human lower limb movements is rarely investigated in literature and remains challenging due to the diversity and complexity of the lower limb movements (diverse gait modes and interaction styles with the environment). Here we present a quantitative categorization for the various lower limb movements. To this end, a similarity measure between movements was first built based on limb kinematic synergies that provide a unified and physiologically meaningful framework for evaluating the similarities among different types of movements. Then, a categorization was established via hierarchical cluster analysis for thirty-four lower limb movements, including walking, running, hopping, sitting-down-standing-up, and turning in different environmental conditions. According to the movement similarities, the various movements could be divided into three distinct clusters (cluster 1: walking, running, and sitting-down-standing-up; cluster 2: hopping; cluster 3: turning). In each cluster, cluster-specific movement synergies were required. Besides the uniqueness of each cluster, similarities were also found among part of the synergies employed by these different clusters, perhaps related to common behavioral goals in these clusters. The mix of synergies shared across the clusters and synergies for specific clusters thus suggests the coexistence of the conservation and augmentation of the kinematic synergies underlying the construction of the diverse and complex motor behaviors. Overall, the categorization presented here yields a quantitative and hierarchical representation of the various lower limb movements, which can serve as a basis for the understanding of the formation mechanisms of human locomotion and motor function assessment and reproduction in related fields.

Lateral bending and buckling aids biological and robotic earthworm anchoring and locomotion

Earthworms (Lumbricus terrestris) are characterized by soft, highly flexible and extensible bodies, and are capable of locomoting in most terrestrial environments. Previous studies of earthworm movement focused on the use of retrograde peristaltic gaits in which controlled contraction of longitudinal and circular muscles results in waves of shortening/thickening and thinning/lengthening of the hydrostatic skeleton. These waves can propel the animal across ground as well as into soil. However, worms benefit from axial body bends during locomotion. Such lateral bending and buckling dynamics can aid locomotor function via hooking/anchoring (to provide propulsion), modify travel orientation (to avoid obstacles and generate turns) and even generate snake-like undulatory locomotion in environments where peristaltic locomotion results in poor performance. To the best of our knowledge, lateral bending and buckling of an earthworm's body has not yet been systematically investigated. In this study, we observed that within confined environments, worms use lateral bending and buckling to anchor their body to the walls of their burrows and tip (anterior end) bending to search the environment. This locomotion strategy improved the performance of our soft-bodied robophysical model of the earthworm both in a confined (in an acrylic tube) and above-ground heterogeneous environment (rigid pegs), where present peristaltic robots are relatively limited in terradynamic capabilities. In summary, lateral bending and buckling facilitates the mobility of earthworm locomotion in diverse terrain and can play an important role in the creation of low cost soft robotic devices capable of traversing a variety of environments.

Function of the crocodilian anterior cruciate ligaments

The anterior cruciate ligament (ACL) is an important knee stabilizer that prevents the anterior subluxation of the tibia. Extant crocodiles have two ACLs, the ACL major and minor, yet their functional roles are unclear. We here examined in-situ forces within the ACL major and minor in saltwater crocodiles (Crocodylus porosus) with a 6-degree-of-freedom robotic testing system under the following loading conditions: (a) 30 N anterior tibial load at 150°, 120°, and 90° knee extension; (b) 1 Nm internal/external torque at 150° and 120° knee extension; (c) 30 N anterior tibial load +1 Nm internal/external torque at 150° and 120° knee extension. The In-situ force in the ACL minor was significantly higher than that of the ACL major in response to anterior tibial load at 90° knee extension, and anterior tibial load + external torque at both 150° and 120° knee extension. Meanwhile, the force in the ACL major was significantly higher than that of the ACL minor in response to internal torque at 120° knee extension, and anterior tibial load + internal torque at 150° knee extension. The present results showed that the ACL minor and major of saltwater crocodiles have different functions. In response to anterior tibial load + internal/external torques, either of two ACLs reacted to opposing directions of knee rotation. These suggest that two ACLs are essential for walking with long axis rotation of the knee in crocodiles.

Perceptual-motor styles

Even for a stereotyped task, sensorimotor behavior is generally variable due to noise, redundancy, adaptability, learning or plasticity. The sources and significance of different kinds of behavioral variability have attracted considerable attention in recent years. However, the idea that part of this variability depends on unique individual strategies has been explored to a lesser extent. In particular, the notion of style recurs infrequently in the literature on sensorimotor behavior. In general use, style refers to a distinctive manner or custom of behaving oneself or of doing something, especially one that is typical of a person, group of people, place, context, or period. The application of the term to the domain of perceptual and motor phenomenology opens new perspectives on the nature of behavioral variability, perspectives that are complementary to those typically considered in the studies of sensorimotor variability. In particular, the concept of style may help toward the development of personalised physiology and medicine by providing markers of individual behaviour and response to different stimuli or treatments. Here, we cover some potential applications of the concept of perceptual-motor style to different areas of neuroscience, both in the healthy and the diseased. We prefer to be as general as possible in the types of applications we consider, even at the expense of running the risk of encompassing loosely related studies, given the relative novelty of the introduction of the term perceptual-motor style in neurosciences.

Common kinematic synergies of various human locomotor behaviours

Humans show a variety of locomotor behaviours in daily living, varying in locomotor modes and interaction styles with the external environment. However, how this excellent motor ability is formed, whether there are some invariants underlying various locomotor behaviours and simplifying their generation, and what factors contribute to the invariants remain unclear. Here, we find three common kinematic synergies that form the six joint motions of one lower limb during walking, running, hopping and sitting-down-standing-up (movement variance accounted for greater than 90%), through identifying the coordination characteristics of 36 lower limb motor tasks in diverse environments. This finding supports the notion that humans simplify the generation of various motor behaviours through re-using several basic motor modules, rather than developing entirely new modules for each behaviour. Moreover, a potential link is also found between these synergies and the unique biomechanical characteristics of the human musculoskeletal system (muscular-articular connective architecture and bone shape), and the patterns of inter-joint coordination are consistent with the energy-saving mechanism in locomotion by using biarticular muscles as efficient mechanical energy transducers between joints. Altogether, our work helps understand the formation mechanisms of human locomotion from a holistic viewpoint and evokes inspirations for the development of artificial limbs imitating human motor ability.

Modularity in Motor Control: Similarities in Kinematic Synergies Across Varying Locomotion Tasks

Kinematic synergies (kSYN) provide an approach to quantify the covariation of joint motions and to explain the mechanisms underlying human motor behavior. A low-dimensional control strategy by means of the activation of a moderate number of kSYN would simplify the performance of complex motor tasks. The purpose of this study was to examine similarities between the kSYN of varying locomotion tasks: straight-line walking, walking a 90° spin turn and walking upstairs. Task-specific kSYN were extracted from full body kinematic recordings of 13 participants by principal component analysis. The first five kSYN accounting for most of the variance within each task were selected for further analysis following previous studies. The similarities between the kSYN of the three different locomotion tasks were quantified by calculating cosine similarities (SIM), as a vector-based similarity measure ranging from 0 (no similarity) to 1 (high similarity), between absolute principal component loading vectors. A SIM between two kSYN > 0.8 was interpreted as highly similar. Two to three highly similar kSYN were identified when comparing two individual tasks with each other. One kSYN, primarily characterized by anteversion and retroversion of the arms and legs, were found to be similar in all three tasks. Additional kSYN that occurred between individual tasks reflected mainly an upwards/downwards movement of the body or a countercyclical knee flexion/extension. The results demonstrate that the three investigated locomotion tasks are characterized by kSYN and that certain kSYN repeatedly occur across the three locomotion tasks. PCA yields kSYN which are in descent order according to their amount of total variance accounted for. Referring to the placing of a kSYN within the order as priorization, we found a change in priorization of repeatedly occurring kSYN across the individual tasks. The findings support the idea that movements can be efficiently performed through a flexible combination of a lower number of control-relevant variables.

Forelimb joints contribute to locomotor performance in reindeer (Rangifer tarandus) by maintaining stability and storing energy

Reindeer (Rangifer tarandus) have lengthy seasonal migrations on land and their feet possess excellent locomotor characteristics that can adapt to complex terrains. In this study, the kinematics and vertical ground reaction force (GRF) of reindeer forelimb joints (interphalangeal joint b, metacarpophalangeal joint c, and wrist joint d) under walk, trot 1, and trot 2 were measured using a motion tracking system and Footscan pressure plates. Significant differences among different locomotor activities were observed in the joint angles, but not in changes of the joint angles (α_b, α_c, α_d) during the stance phase. Peak vertical GRF increased as locomotor speed increased. Net joint moment, power, and work at the forelimb joints were calculated via inverse dynamics. The peak joint moment and net joint power related to the vertical GRF increased as locomotor speed increased. The feet absorbed and generated more energy at the joints. During different locomotor activities, the contribution of work of the forelimbs changed with both gait and speed. In the stance phase, the metacarpophalangeal joint absorbed more energy than the other two joints while trotting and thus performed better in elastic energy storage. The joint angles changed very little (∼5°) from 0 to 75% of the stance phase, which reflected the stability of reindeer wrist joints. Compared to typical ungulates, reindeer toe joints are more stable and the stability and energy storage of forelimb joints contribute to locomotor performance in reindeer.

Distinct locomotor precursors in newborn babies

Mature locomotion involves modular spinal drives generating a set of fundamental patterns of motoneuron activation, each timed at a specific phase of locomotor cycles and associated with a stable muscle synergy. How locomotor modules develop and to what extent they depend on prior experience or intrinsic programs remains unclear. To address these issues, we herein leverage the presence at birth of two types of locomotor-like movements, spontaneous kicking and weight-bearing stepping. The former is expressed thousands of times in utero and postnatally, whereas the latter is elicited de novo by placing the newborn on the ground for the first time. We found that the neuromuscular modules of stepping and kicking differ substantially. Neonates kicked with an adult-like number of temporal activation patterns, which lacked a stable association with systematic muscle synergies across movements. However, on the ground neonates stepped with fewer temporal patterns but all structured in stable synergies. Since kicking and ground-stepping coexist at birth, switching between the two behaviors may depend on a dynamic reconfiguration of the underlying neural circuits as a function of sensory feedback from surface contact. We tracked the development of ground-stepping in 4- to 48-mo-old infants and found that, after the age of 6 mo, the number of temporal patterns increased progressively, reaching adult-like conformation only after independent walking was established. We surmise that mature locomotor modules may derive by combining the multiple patterns of repeated kicking, on the one hand, with synergies resulting from fractionation of those revealed by sporadic weight-bearing stepping, on the other hand.

Synchrony and symmetry-breaking in active flagellar coordination

Living creatures exhibit a remarkable diversity of locomotion mechanisms, evolving structures specialized for interacting with their environment. In the vast majority of cases, locomotor behaviours such as flying, crawling and running are orchestrated by nervous systems. Surprisingly, microorganisms can enact analogous movement gaits for swimming using multiple, fast-moving cellular protrusions called cilia and flagella. Here, I demonstrate intermittency, reversible rhythmogenesis and gait mechanosensitivity in algal flagella, to reveal the active nature of locomotor patterning. In addition to maintaining free-swimming gaits, I show that the algal flagellar apparatus functions as a central pattern generator that encodes the beating of each flagellum in a network in a distinguishable manner. The latter provides a novel symmetry-breaking mechanism for cell reorientation. These findings imply that the capacity to generate and coordinate complex locomotor patterns does not require neural circuitry but rather the minimal ingredients are present in simple unicellular organisms. This article is part of the Theo Murphy meeting issue 'Unity and diversity of cilia in locomotion and transport'.

Variant and Invariant Spatiotemporal Structures in Kinematic Coordination to Regulate Speed During Walking and Running

Humans walk, run, and change their speed in accordance with circumstances. These gaits are rhythmic motions generated by multi-articulated movements, which have specific spatiotemporal patterns. The kinematic characteristics depend on the gait and speed. In this study, we focused on the kinematic coordination of locomotor behavior to clarify the underlying mechanism for the effect of speed on the spatiotemporal kinematic patterns for each gait. In particular, we used seven elevation angles for the whole-body motion and separated the measured data into different phases depending on the foot-contact condition, that is, single-stance phase, double-stance phase, and flight phase, which have different physical constraints during locomotion. We extracted the spatiotemporal kinematic coordination patterns with singular value decomposition and investigated the effect of speed on the coordination patterns. Our results showed that most of the whole-body motion could be explained by only two sets of temporal and spatial coordination patterns in each phase. Furthermore, the temporal coordination patterns were invariant for different speeds, while the spatial coordination patterns varied. These findings will improve our understanding of human adaptation mechanisms to tune locomotor behavior for changing speed.

Current Principles of Motor Control, with Special Reference to Vertebrate Locomotion

The vertebrate control of locomotion involves all levels of the nervous system from cortex to the spinal cord. Here, we aim to cover all main aspects of this complex behavior, from the operation of the microcircuits in the spinal cord to the systems and behavioral levels and extend from mammalian locomotion to the basic undulatory movements of lamprey and fish. The cellular basis of propulsion represents the core of the control system, and it involves the spinal central pattern generator networks (CPGs) controlling the timing of different muscles, the sensory compensation for perturbations, and the brain stem command systems controlling the level of activity of the CPGs and the speed of locomotion. The forebrain and in particular the basal ganglia are involved in determining which motor programs should be recruited at a given point of time and can both initiate and stop locomotor activity. The propulsive control system needs to be integrated with the postural control system to maintain body orientation. Moreover, the locomotor movements need to be steered so that the subject approaches the goal of the locomotor episode, or avoids colliding with elements in the environment or simply escapes at high speed. These different aspects will all be covered in the review.