Ying Zhang, Mark Yim, Craig Eldershaw, Dave Duff, Kimon Roufas. Phase automata: a programming model of locomotion gaits for scalable chain-type modular robots. In 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 27 - November 1, 2003. pages 2442-2447, IEEE, 2003. [doi]
Abstract is missing.