The question we ask is:
    How do we program Central Pattern Generators (CPGs) to carry out their function?

• 2002 talk about CPG programing.
• R. Huerta, P. Varona, M. I. Rabinovich, Henry D. I. Abarbanel. Topology selection by chaotic neurons of a pyloric central pattern generator Biol Cybern 84 (2001) 1, L1-L8
• R. Huerta, M. A. Sánchez-Montañés, F. Corbacho, J. A. Sigüenza. "A central pattern generator to control a pyloric-based system", Biological Cybernetics 82, 85 (2000).