I presented our paper at ICRA 2015 in Seattle on how sensory influences and central oscillation are both important in the generation of emergent walking behavior:
Locomotion control deals with the generation of (quasi-)rhythmic behaviors. There are two general approaches for the generation of such behavioral patterns. On the one hand, a central approach in which a pattern is generated open-loop, driving the motor output without relying on sensory feedback. On the other hand, a sensory driven approach relies on sensory feedback that dominates motor control. Both show different advantages and seem to serve different functions depending on the context. … we want to support a middle ground which tries to bring those two approaches together to provide robots with the adaptive and versatile motor control of animals.