1. A powered leg prosthesis, comprising: a powered knee joint comprising a knee joint and a knee motor unit for delivering power to said knee joint; a powered ankle joint coupled to said knee joint comprising an ankle joint and an ankle motor unit to deliver power to said ankle joint; a prosthetic foot coupled to said ankle joint; a plurality of sensors for measuring a real-time input; and a control system communicatively coupled to said powered knee joint, said powered ankle joint, and said plurality of sensors and configured for concerting operation of said powered knee joint and said powered ankle joint based on said real-time input via control signals, the control system comprising: a processor, and a memory storing instructions for causing the processor to perform steps comprising: for each of the powered knee joint and the powered ankle joint, performing a torque decomposition based on the real-time input to obtain a passive portion of a joint torque and an active portion of the joint torque, and generating control signals for each of the powered knee joint and the powered ankle joint based at least on the real-time input, the passive portion of the joint torque, and the active portion of the joint torque.