On chains of oscillators forced at one end

Using evolutionary methods to parameterize neural models: a study of the lamprey central pattern generator

Biologically inspired robot behavior engineering

Learning to Move in Modular Robots using Central Pattern Generators and Online Optimization

International Journal of Robotics Research

2008 Special Issue: Central pattern generators for locomotion control in animals and robots: A review

Neural Networks

An inter-segmental network model and its use in elucidating gait-switches in the stick insect

Journal of Computational Neuroscience

Brief paper: Infinite chains of kinematic points

Automatica (Journal of IFAC)