Current projects involve studying how gait compensations are made both from biomechanical and motor control perspectives. To this end, we study the control of human and non-human vertebrate legs within the conceptual framework of the Uncontrolled Manifold hypothesis. This idea suggests neuromechanical redundancy is not only helpful, but is exploited by the nervous system to simplify control of and completion of specific behavioral tasks, such as those involved in limb function during locomotion. We integrate concepts and tools from comparative biomechanics, neurophysiology and computational neuroscience.