The method allows the transmission protocol andor the transmission path to be changed during the transmission and without an interruption. The desired motion is determined using a dynamic model by additionally inputting a virtual external force determined on the basis of the state amount error to the dynamic model for generating desired gaits. In a specific embodiment, the vector particles are retronectin-immobilized or ultracentrifugation-concentrated retroviral vector particles pseudotyped with the feline endogenous retrovirus envelope protein.