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Chiel HJ, Beer RD, Gallagher JC (2004) Evolution and analysis of model CPGs for walking: I. Dynamical modules. J Comput Neurosci 7:99-118

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Psujek S, Ames J, Beer RD (2006) Connection and coordination: the interplay between architecture and dynamics in evolved model pattern generators. Neural Comput 18:729-47 [Journal] [PubMed]
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