@article{spikingneuralstatemachineforgait,
  title = {Spiking neural state machine for gait frequency entrainment in a flexible modular robot},
  author = {Alex Spaeth and Maryam Tebyani and David Haussler and Mircea Teodorescu},
  year = {2020},
  eprint = {2007.07346},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2007.07346v2},
}