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Matos, V, Santos CP.  2010.  Omnidirectional locomotion in a quadruped robot: A CPG-based approach. Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on. :3392-3397. Download: Omnidirectional Locomotion in a Quadruped Robot: A CPG-based Approach (224.26 KB)
Matos, V, Santos CP.  2012.  Robot Phase Entrainment on Quadruped CPG Controller. 9th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2012).  Download: icinco_2012_matos.pdf (291.17 KB)