Zhaoping, L Max Planck Institute for Biological Cybernetics, Max Planck Society;
https://journals.aps.org/prl/pdf/10.1103/PhysRevLett.92.198106 (Publisher version)
Zhaoping, L., Lewis, A., & Scarpetta, S. (2004). Mathematical analysis and simulations of the neural circuit for locomotion in lampreys. Physical Review Letters, 92(19): 198106, pp. 1-4. doi:10.1103/PhysRevLett.92.198106.