Learning fish-like swimming with a cpg-based locomotion controller. - Yonghui Hu; Weicheng Tian; Jianhong Liang; Tianmiao Wang (IROS, 2011)

Development of a turtle-like underwater vehicle using central pattern generator. - Guocai Yao; Jianhong Liang; Tianmiao Wang; Xingbang Yang; Qi Shen; Yucheng Zhang; Hailiang Wu; Weicheng Tian (ROBIO, 2013)