From the Sea to the Sidewalk: The Evolution of Hexapod Walking Gaits by a Genetic Algorithm. - Ernest J. P. Earon; Tim D. Barfoot; Gabriele M. T. D'Eleuterio (ICES, 2000)

Experiments in learning distributed control for a hexapod robot. - Tim D. Barfoot; Ernest J. P. Earon; Gabriele M. T. D'Eleuterio (Robotics Auton. Syst., 2006)