[Muscles].

In studying the application of pulse-coded neural networks for bipedal locomotion, our biological model for neural organization is the network of neurons in the ventral horn of the spinal cord. This neural system meets our application requirements for involving large amounts of sensory input data, large numbers of coordinated output signals, and relative ease in determining whether or not our neural system is working. The ventral horn neural circuits were historically the first mammalian neural network systems to be studied in detail, and much of what we know about neural organization in the brain was first learned by studying spinal neuron organization.