Andres Upegui Yann Thoma Eduardo Sanchez Andrés Pérez-Uribe Juan Manuel Moreno Jordi Madrenas Gilles Sassatelli The PERPLEXUS bio-inspired hardware platform: A flexible and modular approach. 201-212 2008 12 KES Journal 3 http://iospress.metapress.com/content/668j9718574072l4/ db/journals/kes/kes12.html#UpeguiTSPMMS08