Dear Esther
Perhaps a good place to start is to take a look at what is involved in learning a new motor skill. Daniel Wolpert's article "Motor learning" gives a good introduction to the most up to date conception of motor learning and control, and especially ideas related to internal models and feed-forward control. http://cbl.eng.cam.ac.uk/pub/Public/...s/WolFla10.pdf
The most up to date models of movement control take into account what is happening in the body as the trunk and limbs move and generate reactive forces that need to be counteracted, as well as the impact of the forces generated as the body makes contact with the environment.
The other important aspect of motor control is the importance of predicting what happens next, and anticipatory control to counteract events that are predicted in the future.
Enjoy the reading
Pam