G. E. Alexander, M. D. Crutcher, and M. R. Delong, Chapter 6 Basal ganglia-thalamocortical circuits: Parallel substrates for motor, oculomotor, ???prefrontal??? and ???limbic??? functions, Progress in Brain Research, vol.85, pp.119-146, 1990.
DOI : 10.1016/S0079-6123(08)62678-3

G. E. Alexander, M. R. Delong, S. , and P. L. , Parallel Organization of Functionally Segregated Circuits Linking Basal Ganglia and Cortex, Annual Review of Neuroscience, vol.9, issue.1, pp.357-381, 1986.
DOI : 10.1146/annurev.ne.09.030186.002041

M. Bevan, P. Booth, S. Eaton, and J. Bolam, Selective innervation of neostriatal interneurons by a subclass of neurons in the globus pallidus of rats, Journal of Neuroscience, issue.22, pp.189438-9452, 1998.

G. Chevalier and M. Deniau, Disinhibition as a basic process in the expression of striatal functions, Trends in Neurosciences, vol.13, issue.7, pp.277-280, 1990.
DOI : 10.1016/0166-2236(90)90109-N

J. Deniau, S. Kitai, J. Donoghue, and I. Grofova, Neuronal interactions in the substancia nigra pars reticulata through axon collateral of the projection neurons, Experimental Brain Research, vol.47, pp.105-113, 1982.

A. Gillies and G. Arbruthnott, Computational models of the basal ganglia, Movement Disorders, vol.265, issue.5, pp.762-770, 2000.
DOI : 10.1002/1531-8257(200009)15:5<762::AID-MDS1002>3.0.CO;2-2

B. Girard, V. Cuzin, A. Guillot, K. N. Gurney, P. et al., A BASAL GANGLIA INSPIRED MODEL OF ACTION SELECTION EVALUATED IN A ROBOTIC SURVIVAL TASK, Journal of Integrative Neuroscience, vol.02, issue.02, pp.179-200, 2003.
DOI : 10.1142/S0219635203000299
URL : https://hal.archives-ouvertes.fr/hal-00016392

B. Girard, D. Filliat, J. Meyer, A. Berthoz, and A. Guillot, Integration of Navigation and Action Selection Functionalities in a Computational Model of Cortico-Basal-Ganglia-Thalamo-Cortical Loops, Adaptive Behavior, vol.13, issue.2, pp.115-130, 2005.
DOI : 10.1177/105971230501300204
URL : https://hal.archives-ouvertes.fr/hal-00016389

K. Gurney, M. Humphries, R. Wood, T. Prescott, R. et al., Testing computational hypotheses of brain systems function: a case study with the basal ganglia, Network: Computation in Neural Systems, vol.15, issue.4, pp.263-290, 2004.
DOI : 10.1088/0954-898X_15_4_003

K. Gurney, T. J. Prescott, R. , and P. , A computational model of action selection in the basal ganglia. I. A new functional anatomy, Biological Cybernetics, vol.84, issue.6, pp.401-410, 2001.
DOI : 10.1007/PL00007984

K. Gurney, T. J. Prescott, R. , and P. , A computational model of action selection in the basal ganglia. II. Analysis and simulation of behaviour, Biological Cybernetics, vol.84, issue.6, pp.411-423, 2001.
DOI : 10.1007/PL00007985

M. D. Humphries and K. N. Gurney, The role of intra-thalamic and thalamocortical circuits in action selection, Network: Computation in Neural Systems, vol.72, issue.10, pp.131-156, 2002.
DOI : 10.3109/08990229109144755

J. Juraska, C. Wilson, and P. Groves, The substantia nigra of the rat: A golgi study, The Journal of Comparative Neurology, vol.185, issue.4, pp.585-600, 1977.
DOI : 10.1002/cne.901720403

A. Kimura and A. Graybiel, Functions of the Cortico-Basal Ganglia Loop, 1995.
DOI : 10.1007/978-4-431-68547-0

H. Kita, H. Tokuno, and A. Nambu, Monkey globus pallidus external segment neurons projecting to the neostriatum, NeuroReport, vol.10, issue.7, pp.1476-1472, 1999.
DOI : 10.1097/00001756-199905140-00014

J. Krotopov and S. Etlinger, Selection of actions in the basal ganglia???thalamocortical circuits: review and model, International Journal of Psychophysiology, vol.31, issue.3, pp.197-217, 1999.
DOI : 10.1016/S0167-8760(98)00051-8

W. Lohmiller and J. Slotine, On Contraction Analysis for Non-linear Systems, Automatica, vol.34, issue.6, pp.683-696, 1998.
DOI : 10.1016/S0005-1098(98)00019-3

W. Lohmiller and J. Slotine, Nonlinear process control using contraction theory, AIChE Journal, vol.30, issue.3, pp.588-596, 2000.
DOI : 10.1002/aic.690460317

F. A. Middleton and P. L. Strick, Anatomical evidence for cerebellar and basal ganglia involvement in higher cognitive function, Science, vol.266, issue.5184, pp.458-461, 1994.
DOI : 10.1126/science.7939688

J. W. Mink, THE BASAL GANGLIA: FOCUSED SELECTION AND INHIBITION OF COMPETING MOTOR PROGRAMS, Progress in Neurobiology, vol.50, issue.4, pp.381-425, 1996.
DOI : 10.1016/S0301-0082(96)00042-1

F. Montes-gonzalez, T. J. Prescott, K. N. Gurney, M. Humphries, R. et al., An embodied model of action selection mechanisms in the vertebrate brain, From Animals to Animats 6, pp.157-166, 2000.

A. Parent, F. Sato, Y. Wu, J. Gauthier, M. Lévesque et al., Organization of the basal ganglia: the importance of axonal collateralization, Trends in Neurosciences, vol.23, issue.10, pp.20-27, 2000.
DOI : 10.1016/S1471-1931(00)00022-7

M. Park, W. Falls, and S. Kitai, An intracellular HRP study of the rat globus pallidus. I. Responses and light microscopic analysis, The Journal of Comparative Neurology, vol.15, issue.3, pp.284-294, 1982.
DOI : 10.1002/cne.902110307

P. Redgrave, T. J. Prescott, and K. Gurney, The basal ganglia: a vertebrate solution to the selection problem?, Neuroscience, vol.89, issue.4, pp.1009-1023, 1999.
DOI : 10.1016/S0306-4522(98)00319-4

F. Sato, P. Lavallee, M. Lévesque, and A. Parent, Single-axon tracing study of neurons of the external segment of the globus pallidus in primate, The Journal of Comparative Neurology, vol.227, issue.1, pp.17-31, 2000.
DOI : 10.1002/(SICI)1096-9861(20000131)417:1<17::AID-CNE2>3.0.CO;2-I

J. Slotine, Modular stability tools for distributed computation and control, International Journal of Adaptive Control and Signal Processing, vol.48, issue.6, pp.397-416, 2003.
DOI : 10.1002/acs.754

W. Staines, S. Atmadja, and H. Fibiger, Demonstration of a pallidostriatal pathway by retrograde transport of HRP-labeled lectin, Brain Research, vol.206, issue.2, pp.446-450, 1981.
DOI : 10.1016/0006-8993(81)90545-X

C. Wilson, Chapter 18 The generation of natural firing patterns in neostriatal neurons, Chemical signalling in the basal ganglia, pp.277-297, 1993.
DOI : 10.1016/S0079-6123(08)61352-7

Y. Wu, S. Richard, and A. Parent, The organization of the striatal output system: a single-cell juxtacellular labeling study in the rat, Neuroscience Research, vol.38, issue.1, pp.49-62, 2000.
DOI : 10.1016/S0168-0102(00)00140-1