@inproceedings{righetti_programmable_2006, title = {Programmable central pattern generators: an application to biped locomotion control}, author = {Righetti, L. and Ijspeert, A.J.}, booktitle = {Proceedings of the {IEEE} {International} {Conference} on {Robotics} and {Automation}, 2006. {ICRA} 2006.}, pages = {1585--1590}, publisher = {IEEE}, year = {2006}, doi = {} }