Online trajectory generation in an amphibious snake robot using a lamprey-like central pattern generator model - Ijspeert, A.J.; Crespi, A. (Proceedings - IEEE International Conference on Robotics and Automation, 2007)
Keywords: Amplitude modulation; Centralized control; Closed-form solution; Coupling circuits; Frequency; Limit-cycles; Oscillators; Robot kinematics; Robust control; Spinal cord