The vertebrate control of locomotion involves all levels of the nervous system from cortex to the spinal cord. Here, we aim to cover all main aspects of this complex behavior, from the operation of the microcircuits in the spinal cord to the systems and behavioral levels and extend from mammalian locomotion to the basic undulatory movements of lamprey and fish. The cellular basis of propulsion represents the core of the control system, and it involves the spinal central pattern generator networks (CPGs) controlling the timing of different muscles, the sensory compensation for perturbations, and the brain stem command systems controlling the level of activity of the CPGs and the speed of locomotion. The forebrain and in particular the basal ganglia are involved in determining which motor programs should be recruited at a given point of time and can both initiate and stop locomotor activity. The propulsive control system needs to be integrated with the postural control system to maintain body orientation. Moreover, the locomotor movements need to be steered so that the subject approaches the goal of the locomotor episode, or avoids colliding with elements in the environment or simply escapes at high speed. These different aspects will all be covered in the review.

中文翻译：

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当前的电动机控制原理，特别是有关脊椎动物的运动。

脊椎动物对运动的控制涉及从皮质到脊髓的神经系统的各个层面。在这里，我们旨在涵盖这种复杂行为的所有主要方面，从脊髓中微电路的运行到系统和行为水平，再从哺乳动物的运动扩展到七lamp鳗和鱼类的基本起伏运动。推进的细胞基础代表了控制系统的核心，它涉及控制不同肌肉的时机，对运动的感觉补偿以及控制神经元活动水平的脑干指令系统的脊柱中央模式发生器网络（CPG）。 CPG和运动速度。前脑，特别是基底神经节参与确定应在给定的时间点招募哪些运动程序，并且可以启动和停止运动功能。推进控制系统需要与姿势控制系统集成在一起，以保持身体定向。此外，需要控制运动动作，以使受试者达到运动发作的目标，或避免与环境中的元素碰撞或仅以高速逃逸。这些不同方面都将在审查中涵盖。或避免与环境中的元素碰撞或只是简单地高速逃脱。这些不同方面都将在审查中涵盖。或避免与环境中的元素碰撞或只是简单地高速逃脱。这些不同方面都将在审查中涵盖。