The CPG-based bionic quadruped system. - Zhifeng Cheng; Haojun Zheng; Xiuli Zhang; Liyao Zhao (SMC, 2003)

A biological inspired quadruped robot: structure and control. - Xiuli Zhang; Haojun Zheng; Xu Guan; Zhifeng Cheng; Liyao Zhao (ROBIO, 2005)