Three years of putting my heart into a little alligator and his friends and lots of "but wait this should be way more flexible" and "no way this is not working" and "what if there's a bug" came down to a couple of pages in PNAS:
www.pnas.org/doi/10.1073/...
pnas.org
Cross-species identification of conserved and divergent locomotor kinematic strategies using AutoGaitA | PNAS
Distinct behaviors require the nervous system to execute specialized motor programs,
each characterized by unique patterns of body muscle coordinat...