Figure 2.

A section of Walknet showing two leg controllers. Each consists of a Stance-net and a Swing-net, the latter being connected with a Target-net (Targetfw). The motor output acts on the legs (box muscles/body/environment). Sensory feedback is used by the motor procedures as well as to switch between the states (red units connected by mutual inhibition). r1 represents coordination rule 1 (see Figure 1). Furthermore, the network is equipped with further procedures (Target_bw-net), a body model (blue) and a motivation unit network (red). The body is represented by the boxes “leg.”