... task of locomotion Hiroshi Kimura Graduate School of Information SystemsUniversity of Electro-Communications 1-5 -1 Chofu-ga-oka, Chofu, Tokyo 18 2-8 585, JapanKazuo TsuchiyaDepartment of Aeronautics ... 05 65, D-98684 Ilmenau, GermanyLibrary of Congress Control Number: 2005936106ISBN-10 4-4 3 1-2 416 4-7 Springer-Verlag Tokyo Berlin Heidelberg New YorkISBN-13 97 8-4 -4 3 1-2 416 4-5 Springer-Verlag ... R.M., M¨uller-Wilm,U., Cruse, H. (1998) Oscilla-tory networks controlling six-legged locomotion. Optimization of model’s pa-rameters. Neural Networks 11, 144 9-1 4607. Cruse, H, and Bartling,...