“here's a 'decerberated' cat on a treadmill.”
Decerebrate cat on a treadmill shows spinal pattern generators.
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Remember that a lot of 'standard' movements aren't fully controlled from the brain. Instead, the brain generators modulating signals to structures/systems lower in the spinal - ie increasing or decreasing your rate of walking. There's lots of evidence of these 'Central Pattern Generators' being located below the brain - which would reduce signal lag. For a somewhat disturbing example of this, here's a 'decerberated' cat on a treadmill. this video That said, the fact that any vertebrae (even our selves) are able to move and react so well is pretty amazing, given that our own neural lag is in the ~100ms range. It's really a testament to the robustment of the multi-tier control that we (animals in general.. but especially large animals) have evolved.
