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Mathematical analysis and simulation study is performed to verify these results. This study will potentially enhance the effective application of biological CPG model into engineering practice such as robotics. <\/jats:p>","DOI":"10.1142\/s0129065709002117","type":"journal-article","created":{"date-parts":[[2009,12,28]],"date-time":"2009-12-28T20:14:03Z","timestamp":1262031243000},"page":"409-424","source":"Crossref","is-referenced-by-count":4,"title":["MATHEMATICAL STUDY ON IONIC MECHANISM OF LAMPREY CENTRAL PATTERN GENERATOR MODEL"],"prefix":"10.1142","volume":"19","author":[{"given":"DINGGUO","family":"ZHANG","sequence":"first","affiliation":[{"name":"Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China, 200240, China"}]},{"given":"XIANGYANG","family":"ZHU","sequence":"additional","affiliation":[{"name":"Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China, 200240, China"}]},{"given":"LI","family":"LAN","sequence":"additional","affiliation":[{"name":"School of EEE, Nanyang Technological University, Singapore, 639798, Singapore"}]},{"given":"KUANYI","family":"ZHU","sequence":"additional","affiliation":[{"name":"School of Engineering, Ngee Ann Polytechnic, Singapore, 599489, Singapore"}]}],"member":"219","published-online":{"date-parts":[[2011,11,21]]},"reference":[{"key":"rf2","first-page":"297","volume":"34","author":"Bay J. 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