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Lewis, M. A., R. Etienne-Cummings, A. H. Cohen, and M. J. Z. Hartmann, "Toward biomorphic control using custom aVLSI CPG chips", Robotics and Automation, 2000. Proceedings. ICRA'00. IEEE International Conference on, vol. 1: IEEE, pp. 494–500, 2000.
Etienne-Cummings, R., M. A. Lewis, M. J. Z. Hartmann, and A. H. Cohen, "CPU-less robotics: distributed control of biomorphs", International Symposium on Optical Science and Technology: International Society for Optics and Photonics, pp. 83–91, 2000.