1. A method for operating an autonomous powered leg prosthesis for a lower limb of a body having at least one powered joint, at least one sensor for collecting real-time sensor information for the autonomous powered leg prosthesis, and a communications device, the method comprising: generating, via a first control system of the autonomous leg prosthesis, first control data for the communications device to establish a communications link with a second leg prosthesis associated with another lower limb of the body contralateral to the lower limb and having a second control system operating independently of the first control system; receiving, at the first control system over the communications link, remote data for the second leg prosthesis, the remote data comprising state information for a second finite state model used by the second control system for operating the second leg prosthesis; generating, via the first control system, second control data for transitioning the autonomous leg prosthesis from a current state in a first finite state model for operating the autonomous powered leg prosthesis to a different state in the first finite state model, wherein the different state is selected based on the real-time sensor information and the remote data, wherein at least one state in the first finite state model is configured for causing the at least one powered joint to deliver net power, wherein the second control data further comprises instructions to transition the autonomous leg prosthesis to the at least one state only if the state data in the remote data indicates that the second leg prosthesis is in a weight bearing state.