@article{sprowitz_learning_2008, title = {Learning to Move in Modular Robots using Central Pattern Generators and Online Optimization}, author = {Spr{\"o}witz, Alexander and Moeckel, Rico and Maye, Jerome and Ijspeert, Auke Jan}, journal = {The International Journal of Robotics Research}, volume = {27}, number = {3-4}, pages = {423--443}, year = {2008}, doi = {10.1177/0278364907088401}, url = {http://ijr.sagepub.com/cgi/content/abstract/27/3-4/423} }