Evolution and Analysis of Model CPGs for Walking: I. Dynamical Modules.

Hillel J. Chiel Randall D. Beer John C. Gallagher Evolution and Analysis of Model CPGs for Walking: I. Dynamical Modules. 99-118 1999 7 Journal of Computational Neuroscience 2 db/journals/jcns/jcns7.html#ChielBG99 http://dx.doi.org/10.1023/A:1008923704408