J. J. Collins, S. A. Richmond. Hard-wired central pattern generators for quadrupedal locomotion. Biological Cybernetics, 71(5):375-385, 1994. [doi]
@article{CollinsR94,
title = {Hard-wired central pattern generators for quadrupedal locomotion},
author = {J. J. Collins and S. A. Richmond},
year = {1994},
doi = {10.1007/BF00198915},
url = {http://dx.doi.org/10.1007/BF00198915},
researchr = {https://researchr.org/publication/CollinsR94},
cites = {0},
citedby = {0},
journal = {Biological Cybernetics},
volume = {71},
number = {5},
pages = {375-385},
}