Design Methodologies for central pattern generators: an application to crawling humanoids Righetti Ijspeert 200?
From enfascination
Didn't read it. It has funny pictures of simulated baby robots with stills of real babies. Apparently there are plans in europe for a real learning baby robot: RoboCub, 54 degrees of freedom.
This work was an application of Ijspeert interest in engineering limit cycle stable periodic behavior.