Leg Control Network (LegConNet) is a robotic leg control scheme heavily based in neurobiology. Animals exhibit very adaptive and flexible legged behavior, able to negotiate difficult terrain, adjust gait in mid step, and smoothly transition between different behaviors (running, ambling, turning, climbing, etc.). Research has explored the neurological structure and coordination rules that insects and mammals use to walk. LegConNet has previously focused on embodying the rules that insects use to coordinate the joints within a leg. The latest versions, however, also mimics the structure and mathematics of an actual nervous system.