Paolo Arena Luigi Fortuna Mattia Frasca Giovanni Sicurella An adaptive, self-organizing dynamical system for hierarchical control of bio-inspired locomotion. 1823-1837 2004 34 IEEE Trans. Syst. Man Cybern. Part B 4 https://doi.org/10.1109/TSMCB.2004.828593 https://www.wikidata.org/entity/Q51987549 db/journals/tsmc/tsmcb34.html#ArenaFFS04