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Decades of research in neuroscience, control systems, and robotics have produced elegant theories of how movements can be controlled in both biological and man-made systems. We know a lot less about which motor control principles are used in the mammalian brain, and which specific brain circuits perform the relevant computations. By studying movements performed by mice engaged in well controlled behavior and applying state-of-the-art tools for dissecting neural circuitry, we hope to bridge this gap... The Motor cortex controls flexible parameters of voluntary movements. However, the coordination and timing of different muscle groups is controlled by low-level premotor regions in the brainstem and spinal cord. We're trying to understand how output signals from motor cortex shape activity in premotor circuits to produce flexible movements. This data allows us to take a deeper look at regions of the brain, such as the motor cortex and brainstem, and can be useful information for..