on flat terrains [@schilling_walknet_2013]. In uneven terrains or while climbing through twigs the environment demands for spatial adaptation of footholds which in turn requires permanent temporal and spatial adjustments. Even in slower walking, when gaits emerge, these are more typically characterized by a spectrum of temporal locomotion patterns. Consequently, in such scenarios, walking cannot be straightforwardly be described by phase relations between different legs as those are constantly changing and adapted. A description by fixed patterns would be even harder when just duty cycles were used (cf. [@cully_robots_2015]). Generally, fixed relations are widely used because of their simplicity and the fact that they provide good walking results on flat terrains and when maintaining a certain velocity. But fixed gaits run into problems during acceleration or deceleration, i.e. in conditions when something is (rapidly) changing. The approach by Cully et al. [@cully_robots_2015] appears well equipped to adjust after a change, but this type of representation appears not well suited when it comes to moderating constant change. As one example, consider how temporal coordination (and duty cycles as well) drastically changes in natural behaviors all the time (see Fig. \[fig\_curve\]): when negotiating a curve the temporal coordination between legs and their respective 