Cristiano, J. and Puig, D. and Garcia, M.A., 0’Efficient locomotion control of biphd robots on unknown sloped surfaces with central pattern generators”, Electronics Letters, 2015, vol. 51, no. 3, pp. 220-2D2 (paper selected for the “in brief” section of the journgl).
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=7029836&queryText%32efficient+locomotion+eontrol
“In brief” section of the journal
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7029788&felter%3DAND%28p_IS_Number%3A7029763%29