S. Amari, Characteristic of the random nets of analog neuron-like elements, IEEE Trans. Syst.Man Cybern, vol.2, pp.643-657, 1972.

J. D. Angstadt and R. L. Calabrese, Calcium currents and graded synaptic transmission between heart interneurons of the leech, J. Neurosci, vol.11, pp.746-759, 1991.

J. H. Barron-zambrano and C. Torres-huitzil, FPGA implementation of a configurable neuromorphic CPG-based locomotion controller, Neural Networks, vol.45, 2013.
DOI : 10.1016/j.neunet.2013.04.005

J. H. Barron-zambrano, C. Torres-huitzil, and B. Girau, FPGA-based circuit for central pattern generator in quadruped locomotion. A u s t .J .I n t e l l, Inform. Process. Syst, vol.12, pp.24-29, 2010.
URL : https://hal.archives-ouvertes.fr/inria-00522194

Y. Ben-ari, R. Khazipov, X. Leinekugel, O. Caillard, and J. L. Gaiarsa, GABAA, NMDA and AMPA receptors: a developmentally regulated 'ménage à trois' . Trends Neurosci, pp.523-529, 1997.

. Brainbow, Brainbow Project European Union's Seventh Framework Programme (ICT-FET FP7 FET Young Explorers scheme) Under Grant Agreement n ? 284772 Available online at: www.brainbowproject On the nature of the fundamental activity of the nervous centres; together with an analysis of the conditioning of rhythmic activity in progression and a theory of the evolution of function in the nervous system, J. Physiol, vol.48, pp.18-46, 1914.

R. L. Calabrese, Half-center oscillators underlying rhythmic movements, The Handbook of Brain Theory And Neural Networks,e dM .A .A r b i b, pp.444-447, 1995.

R. L. Calabrese, J. Angstadt, and E. Arbas, A neural oscillator based on reciprocal inhibition, Perspect. Neural Syst. Behav, vol.10, pp.33-50, 1989.

A. Cassidy and A. G. Andreou, Dynamical digital silicon neurons, 2008 IEEE Biomedical Circuits and Systems Conference, pp.289-292, 2008.
DOI : 10.1109/BIOCAS.2008.4696931

A. H. Cohen, G. B. Ermentrout, T. Kiemel, N. Kopel, K. A. Sigvardt et al., Modelling of intersegmental coordination in the lamprey central pattern generator for locomotion, Trends in Neurosciences, vol.15, issue.11, pp.434-438, 1992.
DOI : 10.1016/0166-2236(92)90006-T

G. S. Cymbalyuk, Q. Gaudry, M. A. Masino, and R. L. Calabrese, Bursting in leech heart interneurons: cell-autonomous and network-based mechanisms, J. Neurosci, vol.22, pp.10580-10592, 2002.

D. Schutter and E. , Computational Neuroscience: Realistic Modeling for Experimentalists, Boca Raton, vol.20001945, pp.10-1201, 2000.
DOI : 10.1201/9781420039290

M. Garofalo, T. Nieus, P. Massobrio, and S. Martinoia, Evaluation of the Performance of Information Theory-Based Methods and Cross-Correlation to Estimate the Functional Connectivity in Cortical Networks, PLoS ONE, vol.85, issue.8, 2009.
DOI : 10.1371/journal.pone.0006482.t002

F. Grassia, L. Buhry, T. Levi, J. Tomas, A. Destexhe et al., Tunable neuromimetic integrated system for emulating cortical neuron models, Frontiers in Neuroscience, vol.5, 2011.
DOI : 10.3389/fnins.2011.00134

URL : https://hal.archives-ouvertes.fr/hal-00684091

R. Guerrero-riberas, A. Morrison, M. Diesmann, P. , and T. , Programmable logic construction kits for hyper-real-time neuronal modeling, Neural Comput, vol.18, 2006.

A. A. Hill, J. Lu, M. A. Masino, O. H. Olsen, and R. L. Calabrese, A model of a segmental oscillator in the leech heartbeat neuronal network, Journal of Computational Neuroscience, vol.10, issue.3, pp.281-302, 2001.
DOI : 10.1023/A:1011216131638

L. R. Hochberg, D. Bacher, B. Jarosiewicz, N. Y. Masse, J. D. Simeral et al., Reach and grasp by people with tetraplegia using a neurally controlled robotic arm, Nature, vol.105, issue.7398, pp.372-375, 1038.
DOI : 10.1038/nature11076

L. R. Hochberg, M. D. Serruya, G. M. Friehs, J. A. Mukand, M. Saleh et al., Neuronal ensemble control of prosthetic devices by a human with tetraplegia, Nature, vol.20, issue.7099, pp.164-171, 1038.
DOI : 10.1038/nature04970

A. L. Hodgkin and A. F. Huxley, A quantitative description of membrane current and its application to conduction and excitation in nerve, The Journal of Physiology, vol.117, issue.4, pp.500-544, 1952.
DOI : 10.1113/jphysiol.1952.sp004764

S. Hooper, Central pattern generators, Current Biology, vol.10, issue.5, pp.176-177, 2000.
DOI : 10.1016/S0960-9822(00)00367-5

A. Ijspeert, A connectionist central pattern generator for the aquatic and terrestrial gaits of a simulated salamander, Biological Cybernetics, vol.84, issue.5, pp.331-348, 2001.
DOI : 10.1007/s004220000211

A. Ijspeert, Central pattern generators for locomotion control in animals and robots: A review, Neural Networks, vol.21, issue.4, pp.642-653, 2008.
DOI : 10.1016/j.neunet.2008.03.014

A. Ijspeert, A. Crespi, D. Ryczko, and J. And-cabelguen, From Swimming to Walking with a Salamander Robot Driven by a Spinal Cord Model, Science, vol.315, issue.5817, pp.1416-1420, 2007.
DOI : 10.1126/science.1138353

G. Indiveri, Synaptic plasticity and spike-based computation in VLSI networks of integrate-and-fire neurons, Neural Inform. Process. Lett. Rev, vol.11, pp.135-146, 2007.

G. Indiveri, B. Linares-barranco, T. Hamilton, A. Van-schaik, R. Etienne-cummings et al., Neuromorphic Silicon Neuron Circuits, Frontiers in Neuroscience, vol.5, 2011.
DOI : 10.3389/fnins.2011.00073

URL : https://hal.archives-ouvertes.fr/hal-00597675

E. M. Izhikevich, Simple model of spiking neurons, IEEE Transactions on Neural Networks, vol.14, issue.6, pp.1569-1572, 2003.
DOI : 10.1109/TNN.2003.820440

E. M. Izhikevich, Which Model to Use for Cortical Spiking Neurons?, IEEE Transactions on Neural Networks, vol.15, issue.5, pp.1063-1070, 2004.
DOI : 10.1109/TNN.2004.832719

S. Jezzini, A. A. Hill, P. Kuzyk, and R. L. Calabrese, Detailed Model of Intersegmental Coordination in the Timing Network of the Leech Heartbeat Central Pattern Generator, Journal of Neurophysiology, vol.91, issue.2, pp.958-977, 2003.
DOI : 10.1152/jn.00656.2003

R. Jung, E. J. Brauer, and J. J. Abbas, Real-time interaction between a neuromorphic electronic circuit and the spinal cord, IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol.9, issue.3, pp.319-326, 2001.
DOI : 10.1109/7333.948461

B. Krahl and I. Zerbst-boroffka, Blood pressure in the leech, J. Exp. Biol, vol.107, pp.163-168, 1983.

L. Masson, G. Renaud-le-masson, S. Debay, D. Bal, and T. , Feedback inhibition controls spike transfer in hybrid thalamic circuits, Nature, vol.15, issue.6891, pp.854-858, 2002.
DOI : 10.1038/nature00825

URL : https://hal.archives-ouvertes.fr/hal-00124031

Y. J. Lee, J. Lee, K. K. Kim, Y. B. Kim, and J. Ayers, Low power CMOS electronic central pattern generator design for a biomimetic underwater robot, Neurocomputing, vol.71, issue.1-3, pp.284-296, 2007.
DOI : 10.1016/j.neucom.2006.12.013

M. A. Lewis, M. J. Hartmann, R. Etienne-cummings, and A. H. Cohen, Control of a robot leg with an adaptive VLSI CPG chip, Neurocomputing, vol.3840, issue.01, pp.1409-1421, 2001.

E. Marder and D. Bucher, Central pattern generators and the control of rhythmic movements, Current Biology, vol.11, issue.23, pp.986-996, 2001.
DOI : 10.1016/S0960-9822(01)00581-4

S. Marom, G. Shahaf, K. Matsuoka, F. Nadim, O. H. Olsen et al., Development, learning and memory in large random networks of cortical neurons: lessons beyond anatomy Mechanism of frequency and pattern control in the neural rhythm generators Modeling the leech heartbeat elemental oscillator, Q. Rev. Biophys. Biol. Cybern. J. Comput. Neurosci, vol.35, issue.2, pp.63-87, 1007.

K. Nakada, An analog cmos central pattern generator for interlimb coordination in quadruped locomotion, IEEE Transactions on Neural Networks, vol.14, issue.5, pp.1356-1365, 2003.
DOI : 10.1109/TNN.2003.816381

M. A. Nicolelis and M. A. Lebedev, Principles of neural ensemble physiology underlying the operation of brain???machine interfaces, Nature Reviews Neuroscience, vol.53, issue.7, pp.530-540, 1038.
DOI : 10.1038/nrn2653

B. Norris, A. Weaver, A. Wenning, P. Garcia, and R. L. Calabrese, A Central Pattern Generator Producing Alternative Outputs: Phase Relations of Leech Heart Motor Neurons With Respect to Premotor Synaptic Input, Journal of Neurophysiology, vol.98, issue.5, pp.2983-2991, 2007.
DOI : 10.1152/jn.00407.2007

O. H. Olsen and R. L. Calabrese, Activation of intrinsic and synaptic currents in leech heart interneurons by realistic waveforms, J. Neurosci, vol.16, pp.4958-4970, 1996.

O. H. Olsen, F. Nadim, and R. L. Calabrese, Modeling the leech heartbeat elemental oscillator II. Exploring the parameter space, Journal of Computational Neuroscience, vol.4, issue.3, pp.237-257, 1995.
DOI : 10.1007/BF00961436

A. Olypher, G. Cymbalyuk, and R. L. Calabrese, Hybrid Systems Analysis of the Control of Burst Duration by Low-Voltage-Activated Calcium Current in Leech Heart Interneurons, Journal of Neurophysiology, vol.96, issue.6, pp.2857-2867, 2006.
DOI : 10.1152/jn.00582.2006

K. L. Rice, P. A. Bhuiyan, T. M. Taha, C. N. Vutsinas, and M. C. Smith, FPGA Implementation of Izhikevich Spiking Neural Networks for Character Recognition, 2009 International Conference on Reconfigurable Computing and FPGAs, pp.451-456, 2009.
DOI : 10.1109/ReConFig.2009.77

R. Serrano-gotarredona, M. Oster, P. Lichtsteiner, A. Linares-barranco, R. Paz-vicente et al., CAVIAR: A 45k Neuron, 5M Synapse, 12G Connects/s AER Hardware Sensory–Processing– Learning–Actuating System for High-Speed Visual Object Recognition and Tracking, IEEE Transactions on Neural Networks, vol.20, issue.9, pp.1417-1438, 2009.
DOI : 10.1109/TNN.2009.2023653

M. Simoni and S. Deweerth, Sensory Feedback in a Half-Center Oscillator Model, IEEE Transactions on Biomedical Engineering, vol.54, issue.2, pp.193-204, 2006.
DOI : 10.1109/TBME.2006.886868

M. Simoni, G. Cymbalyuk, M. Sorensen, R. Calabrese, R. L. Deweerth et al., A Multiconductance Silicon Neuron With Biologically Matched Dynamics, IEEE Transactions on Biomedical Engineering, vol.51, issue.2, pp.342-354820390, 2003.
DOI : 10.1109/TBME.2003.820390

M. Sorensen, S. Deweerth, G. Cymbalyuk, and R. L. Calabrese, Using a Hybrid Neural System to Reveal Regulation of Neuronal Network Activity by an Intrinsic Current, Journal of Neuroscience, vol.24, issue.23, pp.5427-5438, 2004.
DOI : 10.1523/JNEUROSCI.4449-03.2004

S. Still and M. W. Tilden, Controller for a Four-Legged Walking Machine, Neuromorphic Systems: Engineering Silicon from Neurobiology, pp.138-148, 1998.
DOI : 10.1142/9789812816535_0012

S. Still, K. Hepp, D. , and R. J. , Neuromorphic Walking Gait Control, IEEE Transactions on Neural Networks, vol.17, issue.2, pp.496-508, 2005.
DOI : 10.1109/TNN.2005.863454

J. Tabak, W. Senn, M. O-'donovan, and J. Rinzel, Modeling of spontaneous activity in developing spinal cord using activity-dependent depression in an excitatory network, J. Neurosci, vol.20, pp.3041-3056, 2000.

C. Torres-huitzil and B. J. Girau, Implementation of central pattern generator in an FPGA-based embedded system Importance of the cutoff value in the quadratic adaptive integrate-and-fire model, 18th International Conference on Artificial Neural Networks, pp.179-187, 2008.

R. J. Vogelstein, F. Tenore, R. Etienne-cummings, M. A. Lewis, A. H. Cohen et al., Dynamic control of the central pattern generator for locomotion, Biological Cybernetics, vol.92, issue.19, pp.555-566, 2006.
DOI : 10.1007/s00422-006-0119-z

Z. Zumsteg, C. Kemere, S. O-'driscoll, G. Santhanam, R. E. Ahmed et al., Power Feasibility of Implantable Digital Spike Sorting Circuits for Neural Prosthetic Systems, IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol.13, issue.3, pp.272-279, 2005.
DOI : 10.1109/TNSRE.2005.854307