Don't miss the salamander robot. Last Summer in Telluride's neuromorphic engineering workshop the lead researcher gave us a very impressive presentation on it. It's all about coupled oscillators: for each lateral side of each spinal cord segment, and also some overriding ones for the limbs that fire off at certain activity level of the spinal cord ones.
AJ Ijspeert, A Crespi, D Ryczko, JM Cabelguen. "From Swimming to Walking with a Salamander Robot Driven by a Spinal Cord Model." Science 9 March 2007: Vol. 315. no. 5817, pp. 1416 - 1420
AJ Ijspeert, A Crespi, D Ryczko, JM Cabelguen. "From Swimming to Walking with a Salamander Robot Driven by a Spinal Cord Model." Science 9 March 2007: Vol. 315. no. 5817, pp. 1416 - 1420
http://www.sciencemag.org/cgi/content/abstract/315/5817/1416