“…Most bipeds and quadrupeds, in addition to the main form of locomotion, forward stepping, are also capable of backward and sideward stepping (Stein et al, 1986; Buford and Smith, 1990; Buford et al, 1990; Rossignol, 1996; Deliagina et al, 1997; Zelenin et al, 2011; Musienko et al, 2012). Steps with a lateral component are also used for correcting perturbations of balance during forward walking (Karayannidou et al, 2009; Musienko et al, 2014; Hof et al, 2010; Hof and Duysens, 2013). During undisturbed stationary locomotion the trunk exhibits lateral oscillations in the rhythm of stepping (Karayannidou et al, 2009; Misiaszek, 2006).…”