Decebrate (no brain) Cat walks and exhibits multiple gait patterns
This is an old video of a cat exhibiting 3 different gait patterns as a treadmill is run at different speeds. Remarkably the cat was made decerebrate for the purpose of the experiment. This has lead researchers to the hypothesis that, when a quadruped walks/trots/gallops (or walks/runs in the case a biped), minimal control comes from the brain, and most of the control is computed morphologically through an implicit feedback structure in the bio-mechanical design. This phase transition phenomenon is still an active research area in the field of Passive Dynamic Locomotion.