Control of Walking in the Stick Insect: From Behavior and Physiology to Modeling. Dean, J., Kindermann, T., Schmitz, J., Schumm, M., & Cruse, H. Auton. Robots, 7(3):271–288, 1999.  
Paper  doi  bibtex   @article{DBLP:journals/arobots/DeanKSSC99,
  author       = {Jeffrey Dean and
                  Thomas Kindermann and
                  Josef Schmitz and
                  Michael Schumm and
                  Holk Cruse},
  title        = {Control of Walking in the Stick Insect: From Behavior and Physiology
                  to Modeling},
  journal      = {Auton. Robots},
  volume       = {7},
  number       = {3},
  pages        = {271--288},
  year         = {1999},
  url          = {https://doi.org/10.1023/A:1008980606521},
  doi          = {10.1023/A:1008980606521},
  timestamp    = {Thu, 18 May 2017 01:00:00 +0200},
  biburl       = {https://dblp.org/rec/journals/arobots/DeanKSSC99.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
} 
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