“…In many cases it is reasonably straightforward to define the task and its goal-for instance, with regard to simpler tasks such as reaching, grasping, or manipulating (e.g., Todorov & Jordan, 2002), coordinating between limbs (e.g., Haken, Kelso, & Bunz, 1985;Kugler & Turvey, 1987), or even more complex tasks, such as those seen in various sport events, including the high jump (Le Pellec & Maton, 2000), javelin (Best et al, 1993), baseball pitch (DiGiovine et al, 1992), and golf swing (Nesbit, 2005). Even though walking and running are both important and natural motor tasks, it is not nearly so easy to define precisely what these tasks are, or the goal that the motor control system is accomplishing in each.…”