http://www.sciencedirect.com/science/article/pii/0141542587900203
George Coghill, Serge Gracovetsky and the Spinal Engine theory
http://erikdalton.com/spinal-engine-vs-the-pedestrian-theory-of-locomotion/
http://www.bsmpg.com/Portals/52884/docs/Morgan.2012.pdf
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