Running on uneven ground involves complex neural processing and balance maintenance, requiring the brain to create an "internal model" of the environment for effective movement. This model can fail, leading to missteps, highlighting the importance of accurate sensory feedback. Research suggests that "central pattern generators" in the spinal cord can produce rhythmic locomotion even without external input, which is crucial for maintaining movement on varied terrain. Key authors in this field include Daniel Wolpert, Mitsuo Kawato, and Reza Shadmehr, who have explored these concepts extensively. Understanding proprioception and the work of researchers like Robert Peterka and Owen Black can further enhance knowledge on this topic.