• P.L. Buono and M. Golubitsky. Models of central pattern generators for quadruped locomotion: I. primary gaits. J. Math. Biol. 42 (4) (2001) 291-326. [Abstract] [PDF 514K]
• P.L. Buono, M. Golubitsky and A. Palacios. Heteroclinic cycles in rings of coupled cells. Physica D. 143 (2000) 74-108. [Abstract] [PDF 962K]
• P.L. Buono, M. Golubitsky and A. Palacios. Heteroclinic cycles in systems with D_n symmetry. In: Bifurcation Theory and its Numerical Analysis. (Z. Chen, S-N Chow and K. Li, eds.) Springer-Verlag Singapore Pte. Ltd., 1999, 13-27. [Abstract] [PDF 1.1M]
• M. Golubitsky, I. Stewart, P.L. Buono and J.J. Collins. Symmetry in locomotor central pattern generators and animal gaits. Nature. 401 (1999) 693-695. [Abstract] [PDF 153K]
• M. Golubitsky, I. Stewart, P.L. Buono and J.J. Collins. A modular network for legged locomotion. Physica D. 115 (1998) 56-72. [Abstract] [PDF 1.1M]