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N. S. Szczecinski, Brown, A. E., Bender, J. A., Quinn, R. D., and Ritzmann, R. E., “A Neuromechanical Simulation of Insect Walking and Transition to Turning of the Cockroach Blaberus discoidalis”, Biological Cybernetics, vol. 108, no. 1, pp. doi:10.1007/s00422-013-0573-3, 2013.