Change control information, applying at about 6 changes per second for walking, have to be converted into muscle control information that has to be sent every millisecond.
The timing rate around one second seems to be fairly common, at least for humans. The heart beats from 60 to 120 beats per minute. Music typically is in the range of 60 to 120 beats per minute. Walking for exercise might be around 120 steps per minute. Dancing rhythms might be between 60 and 120 beats per minute.
We would hypothesize that there is some neural mechanism or machinery that converts instructions at one tenth of a second to millisecond by millisecond instructions.