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Gutiérrez Guzmán, Álvaro and Berenger, Fernando Juan and Monasterio-Huelin Maciá, Felix (2008). Evolution of Neuro-Controllers for Trajectory Planning Applied to a Bipedal Walking Robot with a Tail. In: "New Developments in Robotics Automation and Control". InTech Education and Publishing, Croacia, pp. 121-142. ISBN 978-953-7619-20-6.
