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This is an old video of a cat exhibiting 3 different gait patterns as a treadmill is run at different speeds. Remarkably the cat was made decerebrate for the purpose of the experiment. This has lead researchers to the hypothesis that, when a quadruped walks/trots/gallops, minimal control comes from the brain, and most of the control is computed morphologically through an implicit feedback structure in the bio-mechanical design. Abstract:
