title: Invariant structure in locomotion.
abstract: Biological systems are hypothesized to control behavior with reference to invariants, because this would allow the variable but robust accomplishment of tasks observed in biological behaviors. Invariants for legged locomotion are specified. Combined with observed properties of locomotion, they lead to predictions of forms of control for legged locomotion.
mesh_terms: D000818:Animals; D005121:Extremities / Q000502:physiology; D006801:Humans; D007596:Joints / Q000502:physiology; D008124:Locomotion; D011187:Posture; D011597:Psychomotor Performance / Q000502:physiology*