Biological oscillations for learning walking coordination: dynamic recurrent neural network functionally models physiological central pattern generator oleh Thomas eHoellinger, Mathieu ePetieau, Matthieu eDuvinage, Thierry eCastermans, Karthik eSeetharaman, Ana-Maria eCebolla, Ana eBengoetxea, Yuri P Ivanenko, Bernard eDan, Guy eCheron, Guy eCheron