Table 1. Model parameters used in the simulations.

α	5	CoP modulation feedback gain
γp	100 mm	GVS bias to head position sensor
γv	10mms−1	GVS bias to head velocity sensor
γa	10mms−2	GVS bias to head acceleration sensor
σp	4.9 ⋅ 10−2 mm	standard deviation of head position sensor noise
σv	3.7 ⋅ 10−2 mms−1	standard deviation of head velocity sensor noise
σa	3.7 ⋅ 10−2 mms−2	standard deviation of head acceleration sensor noise
d	150 ms	neural time delay
Δt	1 ms	Euler step
l	0.814 m	effective pendulum length
σstep	12 mm	standard deviation of foot placement noise
σinit	3.7 mm	standard deviation of initial foot position
b	5.5 mm	constant offset used by foot placement controller