@article {eliasmith2000b,
  title = {Rethinking central pattern generators: a general approach},
  journal = {Neurocomputing},
  volume = {32},
  year = {2000},
  pages = {735-740},
  type = {article},
  author = {Chris Eliasmith and Charles H. Anderson},
  pdf = {http://compneuro.uwaterloo.ca/files/publications/eliasmith.2000b.pdf}
}