Initial Focus: Leg Mechanism
Control results from the properties of the parts and their morphological arrangement. Musculoskeletal units and legs do much of the computations on their own by using segment mass, length, inertia, elasticity, and damping as “primitives”.
System performance is function of the physical system; no feedback control has been used to alter the dynamics of the system.
Full has shown that a substantial portion of locomotor control is simple and resides in the mechanical design of the system