\input zb-basic
\input zb-ioport
\iteman{io-port 70393671}
\itemau{Tang, Chaoquan; Ma, Shugen; Li, Bin; Wang, Yuechao}
\itemti{A self-tuning multi-phase CPG enabling the snake robot to adapt to environments}
\itemso{IROS, 1869-1874 (2011).}
\itemcc{}
\itemut{}
\itemli{doi:10.1109/IROS.2011.6094718}
\end