A General Rhythmic Pattern Generation Architecture for Legged Locomotion - Advancing Artificial Intelligence Through Biological Process Applications - page 226

grant EP/E063322/1 and a Chinese NSFC grant
60673102.

Conference on Bio-inspired Systems and Signal
Processing , Madeira, Portugal, January, 2008.

Buono, P.L., & Golubitsky, M. (2001) Models of
central pattern generators for quadrupedal loco-
motion: I. Primary gaits. Journal of Mathematical
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