Movie S6.

The sSNN-driven walker can exploit the subtle foothold to recover from the near-falling posture. The snapshots of the agent postures and the walking velocity v^g are shown in Fig. 3-(C,D). The v^g drops below 0.5 [ms] to v^g ∼ 0 in t = [12, 14] but the walker recovers from that near-falling state using the toe touching the frictive ground μ = 10 as a foothold.