TABLE 2.

Tabulated results of normal walking trials and disturbance trials during which structure-based neural ablations are made. The first experiment is summarized by the middle column, which catalogues behavioral changes observed when various sensory neurons are ablated during normal walking. The second experiment is summarized by the rightmost column, which lists recovery rates when specific sensory neurons are ablated simultaneously with a lateral perturbation of 3.5 times body weight. Recall from Section 3.1, that the recovery rate for a 3.5 times body weight lateral disturbance with no ablations is 1.00.

Neural ablations	Normal walking trial	Disturbance trial
	Behavior	Recovery rate
u ← 0	|u|↑	0.78
v ← 0	|v|↑	0.00
w ← 0		0.75
p ← 0		0.12
q ← 0		0.99
r ← 0		1.00
sin(θ) ← 0		0.98
sin(ϕ) ← 0		0.55
- $\sqrt{1-si{n}^2(\theta )-si{n}^2(\varphi )}\leftarrow -1$	|ψ|↑	1.00
u* ← 0	u = 0	0.68
v* ← 0		1.00
r* ← 0		1.00
${\mathit{\theta }}_{\text{joint}}\leftarrow \overline{{\mathit{\theta }}_{\text{joint}}}$		0.00
${\mathit{\omega }}_{\text{joint}}\leftarrow \overline{{\mathit{\omega }}_{\text{joint}}}$		0.79
$\mathit{d}\leftarrow \overline{\mathit{d}}$		0.60