Inspired by the rhythmic movements commonly exhibited in lamprey locomotion as well as belly dancing, we designed a controller for a simulated belly-dancing robot using the lamprey central pattern generator. Experimental results show that the proposed lamprey central pattern generator module could potentially generate plausible output patterns, which could be used for all the possible spine motions with minimized control parameters.
Link -via Geekosystem | Image by deviantART user ChadRocco
I like your article and am going to give it a mention in my blog "Jewel's Belly Bancing Blog".