This research was supported by Emmy Noether grant MA4464/3-1 of the Deutsche Forschungsgemeinschaft (DFG), the Bernstein Center for Computational Neuroscience II Göttingen (BCCN II grant 01GQ1005A, project D1), and the Bernstein Focus Neurotechnology Göttingen (BFNT project 3B, 01GQ0811).
 R. Ritzmann, R. Quinn, and M. Fischer, “Convergent evolution and locomotion through complex terrain by insects, vertebrates and robots,” Arthropod Structure & Development, vol. 33, no. 3, pp. 361–379, 2004.
 J. T. Watson, R. E. Ritzmann, S. N. Zill, and A. J. Pollack, “Control of obstacle climbing in the cockroach, blaberus discoidalis: I. locomotion,” J Comp Physiol, vol. 188, no. 1, pp. 39–53, 2002.
 H. Fischer, J. Schmidt, R. Haas, and A. Büschges, “Pattern generation for walking and searching movements of a stick insect leg. I. coordination of motor activity,” Journal of neurophysiology, vol. 85, no. 1, pp. 341-53, 2001.
 H. Lee, Y. Shen, C.-H. Yu, G. Singh, and A. Y. Ng, “Quadruped robot obstacle negotiation via reinforcement learning,” IEEE International Conference on Robotics and Automation, 2006.
 M. Pavone, P. Arena, L. Fortuna, M. Frasca, and L. Patane, “Climbing obstacle in bio-robots via CNN and adaptive attitude control,” International journal of circuit theory and applications, vol. 34, no. 1, pp.109–125, 2006.
 B. Klaassen, R. Linnemann, D. Spenneberg, and F. Kirchner, “Biomimetic walking robot SCORPION: control and modeling,” Robotics and Autonomous Systems, vol. 41, no. 2-3, pp. 69–76, 2002.