Ajallooeian, M., Gay, S., Tuleu, A., Spröwitz, A., & Ijspeert, A. J. (2013). Modular Control of Limit Cycle Locomotion over Unperceived Rough Terrain. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013 (pp. 3390-3397). doi:10.1109/IROS.2013.6696839.