This blogger - Neurologica, Steven Novella has a great description of the various parts of the brain used in walking.
Review some of the components of neurological control of movement.
Read the fourth paragraph and beyond. Your doctor should have been able to describe this to you as s/he explained why you have the deficits you do.
http://theness.com/neurologicablog/index.php/robot-legs-and-central-pattern-generators/
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