Rutishauser, S., Spröwitz, A., Righetti, L., & Ijspeert, A. J. (2008). Passive
compliant quadruped robot using central pattern generators for locomotion control. In Proceedings
of the 2008 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (pp.
710-715). New York, NY: IEEE. doi:10.1109/BIOROB.2008.4762878.