Alessandro Crespi Daisy Lachat Ariane Pasquier Auke Jan Ijspeert Controlling swimming and crawling in a fish robot using a central pattern generator. 3-13 2008 25 Auton. Robots 1-2 http://dx.doi.org/10.1007/s10514-007-9071-6 db/journals/arobots/arobots25.html#CrespiLPI08