Lachat, D.Crespi, A.Ijspeert, A. J.2009-12-102009-12-102009-12-10200610.1109/BIOROB.2006.1639162https://infoscience.epfl.ch/handle/20.500.14299/44789BoxyBot: a swimming and crawling fish robot controlled by a central pattern generatortext::conference output::conference proceedings::conference paper