Methods of modelling of walking machine gaits

The connection of behavioural and imitation gait modelling methods seems very promising. As was identified living systems represent hierarchies of self-organised subsystems. The control coming from the higher levels never directly interferes with the basic dynamics, it consists in weak influences that slightly modify the functioning of the lower level. In living systems the synergetic control mechanism is worked out in the process of evolution. To realise such a mechanism in artificial systems, we should discover the laws of determination of all behavioural patterns.