Gordon Klaus Kyrre Glette Mats Høvin Evolving Locomotion for a Simulated 12-DOF Quadruped Robot. 90-98 2012 IPCAT http://dx.doi.org/10.1007/978-3-642-28792-3_13 conf/ipcat/2012 db/conf/ipcat/ipcat2012.html#KlausGH12