Original Research Published on 17 Sep 2013 A hexapod walker using a heterarchical architecture for action selection Malte SchillingJan PaskarbeitThierry HoinvilleArne HĂĽffmeierAxel SchneiderJosef SchmitzHolk Cruse Frontiers in Computational Neuroscience doi 10.3389/fncom.2013.00126 10,976 views 49 citations