@article{paperid:1031422,
author = {Farzaneh, Yadollah and Akbarzadeh Tootoonchi, Alireza and Akbari, Ali Akbar},
title = {New automated learning CPG for rhythmic patterns},
journal = {Intelligent Service Robotics},
year = {2012},
volume = {5},
number = {3},
month = {July},
issn = {1861-2776},
pages = {169--177},
			numpages = {8},
keywords = {Supervised learning
        Central pattern generators (CPG)
        Nonlinear oscillators
        Rhythmic motion
        On-line trajectory generation},
}