A gait acquisition of a 6-legged robot using immune networks. - Akio Ishiguro; Shingo Ichikawa; Yoshiki Uchikawa (IROS, 1994)

Gait control of hexapod walking robots using mutual-coupled immune networks. - Akio Ishiguro; Satoru Kuboshiki; Shingo Ichikawa; Yoshiki Uchikawa (Adv. Robotics, 1995)

Moderationism in the immune system: gait acquisition of a legged robot using the metadynamics function. - Akio Ishiguro; Shingo Ichikawa; Takanori Shibata; Yoshiki Uchikawa (SMC, 1998)

A method of gait coordination of hexapod robots using immune networks. - Shingo Ichikawa; Satoru Kuboshiki; Akio Ishiguro; Yoshiki Uchikawa (Artif. Life Robotics, 1998)