# Spiking neural state machine for gait frequency entrainment in a flexible modular robot

> Research article (PLoS ONE, 2020) · cited 20× · AI/ML

**Wikidata**: [openalex:W3042585961](https://www.wikidata.org/wiki/openalex:W3042585961)  
**Source**: https://4ort.xyz/entity/spiking-neural-state-machine-for-gait-frequency-entrainment-in-a-flexible-modular-robot