The kinematic motor redundancy of the human legs provides more local degrees of freedom than are necessary to achieve low degree of freedom performance variables like leg length and orientation. The purpose of this dissertation is to investigate how the neuromuscular skeletal system simplifies control of a kinematically redundant system to achieve stable locomotion under different conditions. I propose that the neuromuscular skeletal system is focused on minimizing step to step variance in leg length and orientation while allowing segment angles to vary within the set of acceptable combinations of angles that achieves the desired leg length and orientation. I first determine whether control of the locomotor system is organized hierarchically such that leg length and orientation are achieved through interjoint compensation by structuring segment angle variance. This will be studied in the context of human hopping, a locomotion model that has been well studied and the dynamics of which can be modeled using a simple spring-mass model. I further test the robustness of compensation strategies under different hopping conditions and perturbations, including frequency, constrained foot placement, and different speeds. The results of this study will give valuable information on interjoint compensation strategies used when the locomotor system is perturbed. This work also provides evidence for neuromuscular system strategies in adapting to novel, difficult tasks. This information can be extended to give insight into new and different areas to focus on during gait rehabilitation of humans suffering from motor control deficits in gait.