Auke Jan Ijspeert Paolo Dario Sten Grillner Guest editorial: special issue on control of locomotion - from animals to robots. 245-246 2010 28 Auton. Robots 3 http://springerlink.metapress.com/content/3p5842442l337898/ db/journals/arobots/arobots28.html#IjspeertDG10