Speed regulation of a 3d compasswalker driven by a noisy toe-off impulse

While a human’s preferred walking speed is understood to arise from energy optimization, energy criteria alone do not explain how task-level requirements such as speed regulation are maintained in the presence of neuromotor noise and motor redundancy. Here, we employ a 3D dynamic walking model and implement a hierarchical parametric control strategy that allows the walker to maintain a desired speed in the presence of actuation noise.