translation.en: And we know where these neural oscillators are but what we did was to make a mathematical model to see how they should be coupled to allow this transition between the two very different gaits.
translation.zh: 现在我们知道了这些神经振荡器的位置 但是我们还需要建立数学模型 来研究它们是如何连接起来 实现两种完全不同的步态的转换