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1997. A Robot Trace Maker: Modeling the Fossil Evidence of Early Invertebrate Behavior. Artificial Life . 3(4)
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1999. Layered Control Architectures in Robots and Vertebrates. Adaptive Behavior . 7 (1)
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2004. Computational models of the basal ganglia: from robots to membranes . Trends in Neurosciences . 27(8)
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2006. A robot model of the basal ganglia: Behavior and intrinsic processing . Neural Networks. 19(1)
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2007. Whiskerbot: A Robotic Active Touch System Modeled on the Rat Whisker Sensory System. Adaptive Behavior 15: 223-240, . 15
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2010. SCRATCHbot: Active Tactile Sensing in a Whiskered Mobile Robot. From Animals to Animats 11. 6226/2010