@article{DBLP:journals/tsmc/ArenaFFS04,
  author    = {Paolo Arena and
               Luigi Fortuna and
               Mattia Frasca and
               Giovanni Sicurella},
  title     = {An adaptive, self-organizing dynamical system for hierarchical
               control of bio-inspired locomotion},
  journal   = {IEEE Transactions on Systems, Man, and Cybernetics, Part
               B},
  volume    = {34},
  number    = {4},
  year      = {2004},
  pages     = {1823-1837},
  ee        = {http://doi.ieeecomputersociety.org/10.1109/TSMCB.2004.828593},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}