Buchli, J.Ijspeert, A. J.Rabinovich, M.Selverston, A.2009-12-102009-12-102009-12-10200610.1007/s00422-006-0130-4https://infoscience.epfl.ch/handle/20.500.14299/44775WOS:000242851700001Dynamical principles in neuronal systems and roboticstext::journal::journal article::research article