The neural control of balance during locomotion is currently not well understood, even in the
light of considerable advances in research on balance during standing. In this paper, we lay
out the control problem for this task and present a list of different strategies available to the
central nervous system to solve this problem. We discuss the biomechanics of the walking
body, using a simplified model that iteratively gains degrees of freedom and complexity.
Each addition allows for different control strategies, which we introduce in turn: foot …