Fundamentally, gait permits humans to move intentionally and independently from place to place and to interact with the environment. Human gait, as ordinary as it may seem, is a wonderful illustration of the complex, yet precise action emerging from the interplay of the organism and the environment. As a result of this precision, the locomotor system functions safely and efficiently regardless of the ever-varying environmental conditions. Successful movement ultimately depends on the control, coordination, and integration of the many resources offered by the locomotor system and the environment.
Austin, Gary P. "Motor Control of Human Gait: A Dynamic Systems Perspective." Orthopaedic Physical Therapy Clinics of North America 10.1 (2001): 17-34.