A novel asynchronous sequential logic model of central pattern generator for quadruped robot: systematic design and efficient implementation. - Sho Komaki; Kentaro Takeda; Hiroyuki Torikai (IJCNN, 2021)

A Novel Ergodic Discrete Difference Equation Model of Central Pattern Generator: Theoretical Analysis and Efficient Implementation. - Sho Komaki; Kentaro Takeda; Hiroyuki Torikai (IEEE Trans. Circuits Syst. II Express Briefs, 2022)