Self-organized control of bipedal locomotion by neural oscillators in unpredictable environment. Taga, G., Yamaguchi, Y., & Shimizu, H. Biological cybernetics, 65(3):147–159, 1991.
Self-organized control of bipedal locomotion by neural oscillators in unpredictable environment [link]Paper  bibtex   
@article{taga_self-organized_1991,
	title = {Self-organized control of bipedal locomotion by neural oscillators in unpredictable environment},
	volume = {65},
	url = {http://link.springer.com/article/10.1007/BF00198086},
	number = {3},
	urldate = {2014-08-07},
	journal = {Biological cybernetics},
	author = {Taga, Gentaro and Yamaguchi, Yoko and Shimizu, Hiroshi},
	year = {1991},
	pages = {147--159}
}

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