One novelty of this work is to provide a uniform encoding of both sensory information, high-level commands and control strategy. We choose specifically the slope angle as the example of the sensory information and the action of turning as the example of high-level commands. For the slope angle θs or the target orientation for next stride θt, the input currents I are defined as4\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$${I}_{sensor}=\frac{{\theta }_{s}}{{\theta }_{max}^{s}}{I}_{max}^{s}$$\end{document}Isensor=θsθmaxsImaxs5\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$${I}_{target}=\frac{{\theta }_{t}}{{\theta }_{max}^{t}}{I}_{max}^{t}$$\end{document}Itarget=θtθmaxtImaxt\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$${\theta }_{max}^{s},{\theta }_{max}^{t}$$\end{document}θmaxs,θmaxt are the maximum slope angle and target orientation. \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$${I}_{max}^{s},{I}_{max}^{t}$$\end{document}Imaxs,Imaxt are the corresponding maximum input currents. Here both variables are set to 20 mA.