Lei Sun Max Q.-H. Meng Shuai Li Huawei Liang Tao Mei A Novel CPG with Proprioception and its Application on the Locomotion Control of Quadruped Robot. 33-46 2009 6 I. J. Information Acquisition 1 http://dx.doi.org/10.1142/S0219878909001771 db/journals/ijia/ijia6.html#SunMLLM09