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Grillner S (1981) Control of locomotion in bipeds, tetrapods and fish. Handbook of Physiology, section 1, The Nervous system, vol II, Maryland VB, ed. pp.1179

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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]
Danner SM, Shevtsova NA, Frigon A, Rybak IA (2017) Computational modeling of spinal circuits controlling limb coordination and gaits in quadrupeds. Elife [Journal] [PubMed]
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