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Cruse H (1990) What mechanisms coordinate leg movement in walking arthropods? Trends Neurosci 13:15-21 [PubMed]

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Cruse H, Dürr V, Schmitz J (2007) Insect walking is based on a decentralized architecture revealing a simple and robust controller. Philos Trans A Math Phys Eng Sci 365:221-50 [Journal] [PubMed]
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