# A Novel Ergodic Discrete Difference Equation Model of Central Pattern Generator: Theoretical Analysis and Efficient Implementation

> Research article (IEEE Transactions on Circuits & Systems II Express Briefs, 2021) · cited 32× · AI/ML

**Wikidata**: [openalex:W3198069251](https://www.wikidata.org/wiki/openalex:W3198069251)  
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