Sergiy Yakovenko and I developed the "robocat" model to address these questions:
Click on the images to view movie clips of the robocat walking with and without sensory IF-THEN rules that trigger a tripping rule and a stance to swing
rule.
PROCHAZKA, A. & YAKOVENKO, S. (2001) Locomotor control: from spring-like reactions of muscles to neural prediction. In: The Somatosensory System: Deciphering The Brain's Own Body Image. ed. Nelson, R.J. Boca Raton, CRC Press, 141-181
PROCHAZKA, A., GRITSENKO, V. & YAKOVENKO, S. (2002) Sensory control of locomotion: reflexes versus higher-level control. In: Sensori-Motor Control, ed., S.G. Gandevia. U. Proske & D.G. Stuart, Kluwer Academic/Plenum, New York.
YAKOVENKO, S., GRITSENKO, V., PROCHAZKA, A. (2004) Contribution of stretch reflexes to locomotor control: a modeling study. Biological Cybernetics
PROCHAZKA, A. & YAKOVENKO, S. (2007) Prochazka A, and Yakovenko S. The neuromechanical tuning hypothesis. In: Prog. Brain Res. Computational Neuroscience: Theoretical Insights into Brain Function, edited by Cisek P, Drew, T. & Kalaska, J. NY: Elsevier, 2007, p. 255-265.
PROCHAZKA, A. & YAKOVENKO, S. (2007) Predictive and reactive tuning of the locomotor CPG. Integrative and Comparative Biology 47: 474-481, 2007b.
ROBOCATS : No If-Then rules
ROBOCATS : With If-Then rules