We recorded basic gait features and associated patterns of leg muscle activity, occurring during continuous body progression when humans walked along a curved trajectory, in order to gain insight into the nervous mechanisms underlying the control of the asymmetric movements of the two legs. The same rhythm was propagated to both legs, in spite of inner and outer strides diverging in length (P
Auke Ijspeert, Andrea Di Russo, Dimitar Yuriev Stanev, Anushree Bapusaheb Sabnis, Stéphane Armand