Dario Floreano Jean-Christophe Zufferey Jean-Daniel Nicoud From Wheels to Wings with Evolutionary Spiking Circuits. 3 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=2902&spage=3 2003 conf/epia/2003 EPIA db/conf/epia/epia2003.html#FloreanoZN03