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@article{Authenticus:P-004-HKY,
	title = {{Central pattern generators for bipedal locomotion}},
	author = {CMA Pinto and M Golubitsky},
	doi = {10.1007/s00285-006-0021-2},
	journal = {Journal of Mathematical Biology},
	number = {3},
	pages = {474-489},
	publisher = {Springer},
	type = {Article},
	volume = {53},
	year = {2006}
}